Saving map and evaluating RPE.

[meepo20]

ros2 launch ov_msckf subscribe.launch.py config:=euroc_mav max_cameras:=1 ros2 bag play

Getting this error when I play from a ROS2 bag. How to save map as well as other relevant data to use with OV_EVAL Are there any guides on how to use OV_EVAL I'd like to use it to check the RPE

[goldbattle]

The most recent points are published on /ov_msckf/loop_feats so this can be helpful if you want to reconstruct an incremental map. The code only keeps track of a local map since this is an odometry method, thus no code currently saves the map, nor evaluates it.

To evaluate error, please checkout the documentation website:

• https://docs.openvins.com/eval-metrics.html#eval-rpe
• https://docs.openvins.com/eval-error.html#eval-ov-plot-singlerun