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FangGet / ORB_SLAM2_Android

Repo no longer maintained
GNU General Public License v3.0
294 stars 140 forks source link

how to save the Trajectory ?? #8

Open B-Betty opened 6 years ago

B-Betty commented 6 years ago

i want to save the trajectory of camera ,generating the file KeyFrameTrajectory.txt ,like running in ros .what should i do ? Directly modificating in jni or in android layer to save the trajectory ? ?

BrianT34 commented 6 years ago

Hi @B-Betty, Are you able to compile and run the project. May I know how you did it? Thank you. Right now I am running to "OpenCV was not initialized correctly. Application will be shutdown issue". I have correct version of OpenCV manager (2.4.9) installed. But I am not be able to run the app.

FangGet commented 6 years ago

sorry , this repo is too old and has not been maintained since last year. To save trajectory, you may just fill in SaveKeyFrameTrajectoryTUM function in system.cc. To do that , you need to get camera pose and save its translation vector. @B-Betty @BrianTan34