How can I save trajectory of ALL frames

[JeffreyYH]

Hi JaKob,

I would like to ask how can I save trajectory of all frames instead of just keyframes?

Thanks you!

[070411209]

Hi，Jeffrey,

I am writing a little of blog about slam, and encounter some problems.

No matter keyframes or trajectory data, all for Pose optimization or where are camera.

if you want save trajectory data of all frames, first, you should konw what to save.

second, you should know What data structure is used.

last, answer the above two question.

thanks you.

***** 王包东 ***** ** 15507553214 ** [email protected]

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From: Jeffrey Hu Date: 2018-04-25 15:25 To: JakobEngel/dso CC: Subscribed Subject: [JakobEngel/dso] How can I save trajectory of ALL frames (#136) Hi JaKob, I would like to ask how can I save trajectory of all frames instead of just keyframes? Thanks you! ― You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.

[s3r637]

Hi @JeffreyYafeiHu,

write your own Output3DWrapper, see also SampleOutputWrapper.

Cache all poses of all frames in, e.g., a std::map<Frame ID, Frame Pose>. Keep your Frame Poses up to date (on function publishKeyframes and publishCamPose) and dump the std::map to a file at the end (use the join and/or the reset function).

cheers

[madmage]

Dear @s3r637, thanks for the response to @JeffreyYafeiHu, I tried to implement your advice, but I have one question: once a keyframe is updated (i.e., publishKeyframes is called), should I also update all the poses related to this Keyframe?

[s3r637]

Hi @madmage,

what do you mean by "all the poses related to this Keyframe"? A Keyframe has only one (absolute) pose (related to the first Keyframe).

cheers

[DRAhmadFaraz]

@JeffreyYH @070411209 @s3r637 @madmage

I want the camera poses of every frame in results.txt so can you please provide me the changes in code.?

I will be thankful to you.

[s3r637]

Hi @DRAhmadFaraz,

please take a look into the provided README file and going through the existing issues should also very useful to reach your goal faster.

cheers