Extract images: added timestamp.jpg/.png filname options (to match RGBD-SLAM pose format). Fixed wrong calibration file when first node is an intermdediate node. Export poses: ignore intermediate nodes when output frame is camera or scan.

corelib/src/CameraModel.cpp

@@ -37,8 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 namespace rtabmap {
 
-CameraModel::CameraModel() :
-	localTransform_(0,0,1,0, -1,0,0,0, 0,-1,0,0)
+CameraModel::CameraModel()
 {
 
 }

corelib/src/Graph.cpp

@@ -125,6 +125,12 @@ bool exportPoses(
 					// Format: stamp x y z qx qy qz qw
 					Eigen::Quaternionf q = pose.getQuaternionf();
 
+					if(iter == poses.begin())
+					{
+						// header
+						fprintf(fout, "# timestamp x y z qx qy qz qw\n");
+					}
+
 					UASSERT(uContains(stamps, iter->first));
 					fprintf(fout, "%f %f %f %f %f %f %f %f\n",
 							stamps.at(iter->first),