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hku-mars / r2live

R2LIVE: A Robust, Real-time, LiDAR-Inertial-Visual tightly-coupled state Estimator and mapping package
GNU General Public License v2.0
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Save Lidar or camara trajectory #55

Closed Camilochiang closed 3 years ago

Camilochiang commented 3 years ago

As in Fast_lio2 , Is there a way to save the trajectory of the camera/lidar? Thanks!

Camilochiang commented 3 years ago

I assume that /path correspond to the topic with the coordinates . Is with reference to the LIDAR or the IMU?

Camilochiang commented 3 years ago

I Didn't find a direct way, so at the end I add another node that grab all the pcl output from /cloud_register and /path to save a pcd with all data and a txt with the positions.

hr2894235132 commented 2 years ago

hello,can you teach me how to get a txt with the positions?please,thanks!

ly-uuu commented 2 years ago

Hello Camilochiang can you tell me how to get a txt with the positions?thanks!