How to save the poses and map points?

[ghost]

How can I access the poses and map points information so that I can save them in a file?

[LaurensJN]

I didn't test this, but something like this should work for the map points. Just paste it and put it before the line sptam.stop():

for kf in sptam.graph.keyframes():
    for m in kf.measurements():
        if m.from_triangulation():
            pts.append([m.mappoint.position, m.mappoint.normal, m.mappoint.color])

with open('pointcloud.txt', 'w') as f:
    f.write('x,y,z,nx,ny,nz,r,g,b\n')
    for pt in pts:
        pos, n, rgb = pt
        f.write(','.join([str(el) for p in pos]))
        f.write(','.join([str(el) for p in n]))
        f.write(','.join([str(el) for p in rgb]))
        f.write('\n)

[shaoxh]

You can follow this. Some errors and tempos in codes by @LaurensJN , so I slightly modify it.

`
def stop(self): self.mapping.stop() if self.loop_closing is not None: self.loop_closing.stop() sptam.tracker.optimizer.save("tracker-optimizer.g2o")

    pts = list()
    for kf in sptam.graph.keyframes():
        for m in kf.measurements():
            if m.from_triangulation():
                pts.append([m.mappoint.position, m.mappoint.normal, m.mappoint.color])

    with open('pointcloud.txt', 'w') as f:
        f.write('x,y,z,nx,ny,nz,r,g,b\n')
        for pt in pts:
            pos, n, rgb = pt
            f.write(','.join([str(p) for p in pos]))
            f.write(',')
            f.write(','.join([str(p) for p in n]))
            f.write(',')
            f.write(','.join([str(p) for p in rgb]))
            f.write('\n')

`