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EdwardLiuyc / StaticMapping

Use LiDAR to map the static world
MIT License
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Output data format #55

Closed ibrahimhroob closed 3 years ago

ibrahimhroob commented 3 years ago

Hi @EdwardLiuyc

This might be a silly question but can you please confirm the output format of csv file? is it Time/Step, x, y, z, r, p, y? Is there away to bind or replace the step with time-stamp from the point cloud data?

Thanks.

ibrahimhroob commented 3 years ago

@EdwardLiuyc how I can save the trajectory/path in tum format? Thanks

EdwardLiuyc commented 3 years ago

@ibrahimhroob

  1. it's index, x, y, z, r, p, y in path.csv
  2. TUM format is not supported yet, only formats supported are KITTI format and self-defined format mentioned in 1.

If you want to change the index to timestamp, maybe you can modify trajectory.cc to make this happen. And if you want to get tum format path, you can refer to OutputPath() in map_builder.cc.

ibrahimhroob commented 3 years ago

Many thanks for your reply, I have replaced path_content += (std::to_string(path_point_index) + ", "); with path_content += (std::to_string(frame->GetTimeStamp().ToNanoSec()) + ", "); (Y)