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abhineet123 / ORB_SLAM2

Modified version of ORB SLAM for an autonomous navigation project
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How to run pointcloud2Gridmap.py ? #19

Closed ngthanhtin closed 3 years ago

ngthanhtin commented 3 years ago

Hi, I wonder how to run pointcloud2gridmap.py, I have input two files point_cloud_fname and keyframe_trajectory_fname. In the former, I just get the world pose and its timestamp, in the latter, I just get the keyframe of orbslam. But I can't see anything in the output image. What are the inputs of your file?

ngthanhtin commented 3 years ago

I mean what is your map_pts_and_keyframes.txt file. Screenshot from 2020-12-15 10-47-32

Because When I get mappoints, I only get x,y,z of the point. The timestamp will be gotten in the get trajectory function.