wenyu

I think you should download the full KITTI tracking dataset. It works well for me.

I recommend you follow [mmdetection3d](https://github.com/open-mmlab/mmdetection3d). Although the provided models are pre-trained on KITTI 3D Detection benchmark, they perform well on KITTI Tracking Sequences. Second, PointPillars，PointRCNN and Part-A2 are available on...

I guess this may help [https://github.com/TianXiaoRui/color_map_loam](url)

hello, I solve it. Just add `orb_slam_->SaveTrajectoryKITTI("your_path.txt");` in destructors. For example, you could add it to RGBDNode.cc, then it looks like: ` RGBDNode::~RGBDNode () { orb_slam_->SaveTrajectoryKITTI("/home/your_name/SaveTrajectoryKITTI.txt"); delete rgb_subscriber_; delete depth_subscriber_;...