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zdzhaoyong / Map2DFusion

This is an open-source implementation of paper: Real-time Incremental UAV Image Mosaicing based on Monocular SLAM.
http://zhaoyong.adv-ci.com/map2dfusion/
GNU Lesser General Public License v3.0
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trajectory.txt #3

Closed C8PAN closed 7 years ago

C8PAN commented 7 years ago

I tried the sample sequence phantom3-village-kfs. The result is quite impressive. This sequence comes with a text file trajectory.txt. I am wondering how can I compute a similar trajectory.txt for my own sequence? In the trajectory.txt, It seems the eight values per line are timestamp, tx, ty, tz, w, rx, ry, rz.

zdzhaoyong commented 7 years ago

The trajectory is generated from a SLAM system, you can either use the ORB_SLAM to output the trajectory but the result is not usable directly and you need add some functions like plane fitting. You can also fork our open source GSLAM(https://github.com/zdzhaoyong/GSLAM) and we are going to use Map2DFusion as a demo of GSLAM.

C8PAN commented 7 years ago

Thank you. excited to see the new demo.