José Araújo

Hi @juanbiondi, did you find a solution to this? I would also be interested on doing this

Are you using the map saved after running VIO mode in your LOC mode? One thing you could try to do as well is to load and optimized the full...

Hi, to understand the output you should look into the line where they actually save the data into csv as I mentioned here https://github.com/ethz-asl/maplab/issues/250#issuecomment-673423668. So in https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/data-publisher-flow.cc#L134 you have ```...

You mean you did the following and got bad results? ``` aslam::Transformation T_G_I = latest_T_G_M_ * T_M_I; file_logger_ros->writeDataWithDelimiterAndNewLine( kDelimiter, aslam::time::nanoSecondsToSeconds(vio_update->timestamp_ns), T_G_I.getPosition(), T_G_I.getEigenQuaternion()); ``` So export_trajectory_to_csv outputs T_G_I directly https://github.com/ethz-asl/maplab/blob/88d8587958c6902e7304a5ef7d88e867b30924b3/console-plugins/vi-map-data-import-export-plugin/src/export-vertex-data.cc#L65. The...

Yes for any change you make in the files you always have to build maplab again

No, you have to make this change inside this script https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/data-publisher-flow.cc#L134 where instead of having this ``` file_logger->writeDataWithDelimiterAndNewLine( kDelimiter, aslam::time::nanoSecondsToSeconds(vio_update->timestamp_ns), latest_T_G_M_.getPosition(), latest_T_G_M_.getEigenQuaternion(), T_M_I.getPosition(), T_M_I.getEigenQuaternion(), has_T_G_M); ``` you want to have...

The results you get are very strange. Did you take a look at both CSV files and try to see if in one you maybe have the coordinate system swapped...

Unfortunately maplab wont work if you dont have a good hardware platform with good time synch, which is hard to obtain from a smartphone. I would very much recommend that...

Have you tried running maplab from the pre-release-march-2018 branch https://github.com/ethz-asl/maplab/tree/pre_release_public/march-2018? As they state in the release notes you may be able to achieve better results https://github.com/ethz-asl/maplab/pull/55 Please see my updated...

Hi, the explanation comes in the lines that come afterwards when the csv file is actually being written here https://github.com/ethz-asl/maplab/blob/master/applications/rovioli/src/data-publisher-flow.cc#L134 ``` file_logger->writeDataWithDelimiterAndNewLine( kDelimiter, aslam::time::nanoSecondsToSeconds(vio_update->timestamp_ns), latest_T_G_M_.getPosition(), latest_T_G_M_.getEigenQuaternion(), T_M_I.getPosition(), T_M_I.getEigenQuaternion(), has_T_G_M); ```...