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Save camera trajectory #130

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hongu0603 opened this issue Feb 26, 2022 · 1 comment

hongu0603 commented Feb 26, 2022

how do i get the camera trajectory and save after running orb_slam2_ros , like ORB_SLAM2 we cam get the txt file

WenyuLWY commented Oct 8, 2022

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_;
delete sync_;
}
`

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