I am doing pose estimation using ArUco markermaps. I followed the following procedure:
- Created a markermap by printing and pasting markers in a room and recording their video and using it to create marker map (map.yml, map.log , and the point cloud file)
- Use the generated markermap to run aruco tracking program. The tracking program outputs camera poses in real time in the form of three tvec and three rvec values.
Now, I want to keep record about how much the camera has moved in x and y positions (2d only) using the cam poses, so that I can generate my odometry on its basis. I am not sure how to interpret or use the tvec and rvec values for this purpose. Any ideas on this ? Thanks.
Note: I am a beginner in pose estimation, so If I seem to be going wrong in my approach, please mention it.