3D map reconstruction

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3D map reconstruction

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Hi ,all I try to reconstruct a 3D map from color and depth images with SLAM system. I use a F200 and SR300. Plan 1 SLAM system is from Set3DInstantTrack() function of Object-Tracking sample. Plan 2 SLAM system is from Start3DMapCreation() function of Object-Tracking sample. In each Plans, I can get color and depth image from QuerySample() function. But I can not get camera pose (rotation and translation). So, I want to know how to get camera pose. Additionally, please tell me if you know about world coordinate system. I can find only camera coordinate system in document. Anyone, please help me. thank you.

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