How to get the dataset trajectory the method generated

[cumtchenchang]

I want to evelate the method with our lab method. How to change the code to get dataset trajectory the method generated.

[bloesch]

Please have a look at the rostopic output.

[cumtchenchang]

@bloesch Thank you for your help. I change the code folled what you said, but It dose not compile.

[Kushine]

How to get dataset trajectory the method generated?Have you got it? @cumtchenchang

[Kushine]

In RovioNode.hpp, you can get dataset trajectory from " imuOutput_ ".

[cumtchenchang]

@Kushine can you give me your email? my is 1253419722@qq.com

[cumtchenchang]

@Kushine I can not change the code correctly to get the trajectory.

[Kushine]

In RovioNode.hpp, save imuOutput_ to a vector, or print as the way:
in RovioNode.hpp,
after line 670 imuOutputCT_.transformState(state,imuOutput_);
add the code
std::cout <<std::fixed<<mpFilter_->safe_.t_<< "," << imuOutput_.WrWB()(0) << "," << imuOutput_.WrWB()(1)<< "," << imuOutput_.WrWB()(2)<< std::endl;
std::cout <<std::fixed<<imuOutput_.qBW().x()<< "," <<imuOutput_.qBW().y()<< "," <<imuOutput_.qBW().z()<< "," <<-imuOutput_.qBW().w()<< std::endl;

[cumtchenchang]

@Kushine can you give more detail? I cannot save the trajectory to txt or other files. thank you

[jixiedaima]

@Kushine solved it, thanks!

[ghost]

@Kushine would you tell me if imuOutput_ contains the vio answer or just the numbers that come from IMU (the device)?

[InkSpade]

In RovioNode.hpp, save imuOutput_ to a vector, or print as the way:
in RovioNode.hpp,
after line 670 imuOutputCT_.transformState(state,imuOutput_);
add the code
std::cout <<std::fixed<<mpFilter_->safe_.t_<< "," << imuOutput_.WrWB()(0) << "," << imuOutput_.WrWB()(1)<< "," << imuOutput_.WrWB()(2)<< std::endl;
std::cout <<std::fixed<<imuOutput_.qBW().x()<< "," <<imuOutput_.qBW().y()<< "," <<imuOutput_.qBW().z()<< "," <<-imuOutput_.qBW().w()<< std::endl;

thank you very much!!!!!!

[InkSpade]

In RovioNode.hpp, save imuOutput_ to a vector, or print as the way:
in RovioNode.hpp,
after line 670 imuOutputCT_.transformState(state,imuOutput_);
add the code
std::cout <<std::fixed<<mpFilter_->safe_.t_<< "," << imuOutput_.WrWB()(0) << "," << imuOutput_.WrWB()(1)<< "," << imuOutput_.WrWB()(2)<< std::endl;
std::cout <<std::fixed<<imuOutput_.qBW().x()<< "," <<imuOutput_.qBW().y()<< "," <<imuOutput_.qBW().z()<< "," <<-imuOutput_.qBW().w()<< std::endl;

But i still want to know how to set the route of the result (pose.txt), can you help me? Plz, thank you!