From f958a7480de35420479defaa829b6aa0c8a31b26 Mon Sep 17 00:00:00 2001 From: Vladyslav Usenko Date: Mon, 5 Aug 2019 17:03:45 +0200 Subject: [PATCH] update docs --- doc/VioMapping.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/VioMapping.md b/doc/VioMapping.md index d12adfd..a8f7f2f 100644 --- a/doc/VioMapping.md +++ b/doc/VioMapping.md @@ -44,6 +44,9 @@ By default the system starts with `continue_fast` enabled. This option visualize For evaluation the button `align_se3` is used. It aligns the GT trajectory with the current estimate using an SE(3) transformation and prints the transformation and the root-mean-squared absolute trajectory error (RMS ATE). +The button `save_traj` saves the trajectory in one of two formats (`euroc_fmt` or `tum_rgbd_fmt`). In EuRoC format each pose is a line in the file and has the following format `timestamp[ns],tx,ty,tz,qw,qx,qy,qz`. TUM RBG-D can be used with [TUM RGB-D](https://vision.in.tum.de/data/datasets/rgbd-dataset/tools) or [UZH](https://github.com/uzh-rpg/rpg_trajectory_evaluation) trajectory evaluation tools and has the following format `timestamp[s] tx ty tz qx qy qz qw`. + + ### Visual-inertial mapping To run the mapping tool execute the following command: ``` @@ -73,6 +76,7 @@ The workflow for the mapping is the following: The `num_opt_iter` slider controls the maximum number of iterations executed when pressing `optimize`. +The button `save_traj` works similar to the VIO, but saves the keyframe trajectory (subset of frames). For more systematic evaluation see the evaluation scripts in the [scripts/eval_full](/scripts/eval_full) folder.