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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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SaveTrajectoryTUM is disabled for monocular #586

Open felixem opened 2 years ago

felixem commented 2 years ago

In file System.cc we can find the following code:

void System::SaveTrajectoryTUM(const string &filename) { cout << endl << "Saving camera trajectory to " << filename << " ..." << endl; if(mSensor==MONOCULAR) { cerr << "ERROR: SaveTrajectoryTUM cannot be used for monocular." << endl; return; }

Why function "SaveTrajectoryTUM" cannot be used for monocular? What limits the usage of this function when using monocular?

Tuntenfisch commented 11 months ago

I would also be interested in the reasoning for the guard condition.