final optimized odometry for comparing accuracy of slam

[wakasu]

Hey,

I'm new to slam so sorry if its an obvious question

I am trying to save the final optimized odometry of in "timestamp tx ty tz qx qy qz qw" format

Any help will be appreciated. Regards

[Remi-Tortue]

Hey,

I have the same issue. Did you find a solution ?

[njustCSwy]

you can add this code into file hdl_graph_slam_nodelet.cpp at method dump_service(). std::ofstream foutTUM; foutTUM.open("/home/indigo/catkin_hdl/src/tum/tum.txt"); foutTUM << std::fixed; for(int i = 0; i < keyframes.size(); i++) { Eigen::Vector3d translation = keyframes[i]->odom.translation(); Eigen::Quaterniond rotation(keyframes[i]->odom.rotation()); //save the traj foutTUM << std::setprecision(6) << keyframes[i]->stamp.toSec() << " " << std::setprecision(9) << translation.x() << " " << translation.y() << " " << translation.z() << " " << rotation.x() << " " << rotation.y() << " " << rotation.z() << " " << rotation.w() << std::endl; } foutTUM.close();

[LIYVang]

您可以将此代码添加到方法 dump_service（） 中的文件hdl_graph_slam_nodelet.cpp中。 std：：ofstream 主输出TUM; foutTUM.open（“/home/indigo/catkin_hdl/src/tum/tum.txt”）; main outTUM << std：：fixed; for（int i = 0; i < keyframes.size（）; i++） { Eigen：：Vector3d translation = keyframes[i]->odom.translation（）;特征：：四元数旋转（keyframes[i]->odom.rotation（））; //保存 traj foutTUM << std：：setprecision（6） << 关键帧 [i]->stamp.toSec（） << “ ” << std：：setprecision（9） << translation.x（） << “ ” << translation.y（） << “ ” << translation.z（） << “ ” << rotation.x（） << “ ” << rotation.y（） << “ ” << rotation.z（） << “ ” ”<< rotation.w（） << std：：endl; } main wayTUM.close（）;

你好，我在尝试后发现轨迹并不能保存下来