global optimized pose on the go

[rohankhaire-work]

Hello,

I am creating an application like run_image_slam in stella_vslam_examples. The trajectory of frames and keyframes are retrieved after the entire system has finished. I am wondering is it possible to get these poses as the program runs. If so, how do I get them?

I got the poses from feed frame function, but these are raw tracked poses.

Edit -
I tried to get the pose from the map_publisher in the same way as viewer(Pangolin) gets the pose, but it is the same pose as the raw tracker pose.

Thank you!