Get Localization frame position

[hetareba]

Thank you for this great job. I have a question. I understand that if I specify --eval-log when doing run_video_slam, trajectory will be recorded. But I don't know how to record trajectory when doing Localization. I referred to https://github.com/xdspacelab/openvslam/issues/292#issuecomment-632891805, but I thought this is a command that does not support Ubuntu. Is it possible to record trajectory only by operating on Ubuntu?

[sumitsarkar1]

@hetareba have you found any solution to this ?..I also need to evaluate the trajectory while only in localization mode...plz share if you have any suggestions

[YujiElfahkrany]

how about calling this function ? https://github.com/xdspacelab/openvslam/blob/master/src/openvslam/system.h#L57

[sumitsarkar1]

@YujiElfahkrany for using openvslam in the ROS environment will the above mentioned solution work too?

[sumitsarkar1]

@YujiElfahkrany thanx...in the run_localization.cc

SLAM.shutdown(); SLAM.save_frame_trajectory("localization_frame_trajectory.txt", "TUM");

[hetareba]

how about calling this function ? https://github.com/xdspacelab/openvslam/blob/master/src/openvslam/system.h#L57

Sorry for the late reply! Many thanks for your comments.

@YujiElfahkrany, thanks for the suggestions. Do I need to make any changes to system.h before building the software in order to call void save_frame_trajectory from system.h?

sorry! I don't understand C++ at all. Please forgive some elementary questions.

[sumitsarkar1]

@hetareba no changes in system.h. Just call the function SLAM.save_frame_trajectory() . Dont forget to do catkin_make to apply the changes