Mapping and Relocalization

What is the proper way to create a map with the ZED2i?

Do I just edit the ros params to save the area memory?
Also, how can I get the camera pose in the World coordinates?

Hi @sesem738,

The area memory allows to save the positional tracking representation for its SLAM algorithm to relocate itself and perform loop closures when located in an area that the camera has already seen before.

To retrieve the camera pose in world coordinates in C++ you can do it as so:

POSITIONAL_TRACKING_STATE state = zed.getPosition(zed_pose, REFERENCE_FRAME::WORLD);

In ROS, the camera pose in world coordinates is available on the topic:

/zed/zed_node/pose