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JakobEngel / dso

Direct Sparse Odometry
GNU General Public License v3.0
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Output File #236

Closed dgkntrz closed 3 years ago

dgkntrz commented 3 years ago

Hello,

Other algorithms I've seen so far provide a keyframe trajectory file at the end of the run, for us to compare with the ground truth. Does this algorithm save such a file as well?

Thanks!

NikolausDemmel commented 3 years ago

From the readme:

Per default, dso_dataset writes all keyframe poses to a file result.txt at the end of a sequence, using the TUM RGB-D / TUM monoVO format ([timestamp x y z qx qy qz qw] of the cameraToWorld transformation).