How to save position data as a txt file with timestamp?

[weblucas]

you have to write some code in the function publishFullStateAsCallback in the file okvis_app_synchronous.cpp

[zxw1992]

I got the idea that I can save position data and velocity data if I write some code at here:

std::stringstream postext; postext << "position = [" << r[0] << ", " << r[1] << ", " << r[2] << "]"; cv::putText(_image, postext.str(), cv::Point(15,15), cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,255,255), 1); std::stringstream veltext; veltext << "velocity = [" << speedAndBiases[0] << ", " << speedAndBiases[1] << ", " << speedAndBiases[2] << "]"; cv::putText(_image, veltext.str(), cv::Point(15,35), cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,255,255), 1);

But, as I want to compare the estimated results with the groundtruth, it seems necessary to save the timestamp simultaneously. However, I have no idea about how to do it. Can you give me some hints? Thank you very much.

[Mrzzhao]

@zxw1992 hello，I want to save the pose to txt ,are you successful? could you tell me how to operate?

[447425299]

@zxw1992 I want to do the same things , Only the timestamp i can not find, are you succeed?

[447425299]

Thanks for your sharing, but i can hardly find timestamp to output

[Mrzzhao]

@447425299 I can output the timestamp ,but it cannot Synchronize，so,I save the position and timestamp respectively,then I combine them together into .csv.What`s more,I compare it with the groundtruth,and get the result.

[447425299]

@zxw1992 TUM dataset has the Script to do it. https://github.com/tum-vision/mono_dataset_code