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LSD-SLAM
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Where's the place to enable the save operation for 'estimated_poses.txt' ? #139

Open amiltonwong opened 9 years ago

amiltonwong commented 9 years ago

Hi, all,

In line 51 in "LiveSLAMWrapper.cpp", we can see outFileName = packagePath+"estimated_poses.txt"; https://github.com/tum-vision/lsd_slam/blob/master/lsd_slam_core/src/LiveSLAMWrapper.cpp#L51

and line 48 in "main_live_odometry.cpp", we can see packagePath = ros::package::getPath("lsd_slam_core")+"/"; https://github.com/tum-vision/lsd_slam/blob/master/lsd_slam_core/src/main_live_odometry.cpp#L48

After running a practice, I couldn't find any estimated_poses.txt generated, neither in /root/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core or /root/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/src/lsd_slam_core

So , there seems some places to enable the save operation. Where's the place to enable the save operation for estimated_poses.txt?

Thx~

Milton

apesIITM commented 7 years ago

I believe the file is temporary, and is deleted after LSD_SLAM has evaluated pose. If you look carefully, you can find code for deleting it. One hack is to make a copy of file before it is deleted by appending current time to copy of estimated_poses.txt This way you can view all poses w.r.t. and it will not cause any issue with LSD_SLAM code. [I will update if it work for me] Hope it helps.