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TixiaoShan / LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping
https://youtu.be/8CTl07D6Ibc
BSD 3-Clause "New" or "Revised" License
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Add the save trajectory function #58

Open Taeyoung96 opened 2 years ago

Taeyoung96 commented 2 years ago

@TixiaoShan
Hi, Thanks for your great work.
I add some functions to save Trajectory in the txt file.
This file is in TUM format, so it could directly visualize using evo tool.

Below is a visualization of the results of the M2DGR dataset using evo tool.

result_lvi-sam

I hope this PR is helpful.

Thanks,

Stephen1e commented 2 years ago

Hi bro, thanks for your work which helped me a lot, I wonder how you get the ground truth from the GNSS data of the M2DGR dataset, how to convert GNSS data to trajectory in TUM format?

Taeyoung96 commented 2 years ago

@Stephen1e
Hi, the M2DGR dataset provides ground truth txt files on their repository.
These ground truth files are in TUM format already, so you could use them directly!

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.

Taeyoung96 commented 1 year ago

@TixiaoShan
Could I ask you to merge this PR?

stale[bot] commented 1 year ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.