Method SaveDebugData

src/System.cc:1265–1318

void System::SaveDebugData(const int &initIdx)
{
    // 0. Save initialization trajectory
    SaveTrajectoryEuRoC("init_FrameTrajectoy_" +to_string(mpLocalMapper->mInitSect)+ "_" + to_string(initIdx)+".txt");

    // 1. Save scale
    ofstream f;
    f.open("init_Scale_" + to_string(mpLocalMapper->mInitSect) + ".txt", ios_base::app);
    f << fixed;
    f << mpLocalMapper->mScale << endl;
    f.close();

    // 2. Save gravity direction
    f.open("init_GDir_" +to_string(mpLocalMapper->mInitSect)+ ".txt", ios_base::app);
    f << fixed;
    f << mpLocalMapper->mRwg(0,0) << "," << mpLocalMapper->mRwg(0,1) << "," << mpLocalMapper->mRwg(0,2) << endl;
    f << mpLocalMapper->mRwg(1,0) << "," << mpLocalMapper->mRwg(1,1) << "," << mpLocalMapper->mRwg(1,2) << endl;
    f << mpLocalMapper->mRwg(2,0) << "," << mpLocalMapper->mRwg(2,1) << "," << mpLocalMapper->mRwg(2,2) << endl;
    f.close();

    // 3. Save computational cost
    f.open("init_CompCost_" +to_string(mpLocalMapper->mInitSect)+ ".txt", ios_base::app);
    f << fixed;
    f << mpLocalMapper->mCostTime << endl;
    f.close();

    // 4. Save biases
    f.open("init_Biases_" +to_string(mpLocalMapper->mInitSect)+ ".txt", ios_base::app);
    f << fixed;
    f << mpLocalMapper->mbg(0) << "," << mpLocalMapper->mbg(1) << "," << mpLocalMapper->mbg(2) << endl;
    f << mpLocalMapper->mba(0) << "," << mpLocalMapper->mba(1) << "," << mpLocalMapper->mba(2) << endl;
    f.close();

    // 5. Save covariance matrix
    f.open("init_CovMatrix_" +to_string(mpLocalMapper->mInitSect)+ "_" +to_string(initIdx)+".txt", ios_base::app);
    f << fixed;
    for(int i=0; i<mpLocalMapper->mcovInertial.rows(); i++)
    {
        for(int j=0; j<mpLocalMapper->mcovInertial.cols(); j++)
        {
            if(j!=0)
                f << ",";
            f << setprecision(15) << mpLocalMapper->mcovInertial(i,j);
        }
        f << endl;
    }
    f.close();

    // 6. Save initialization time
    f.open("init_Time_" +to_string(mpLocalMapper->mInitSect)+ ".txt", ios_base::app);
    f << fixed;
    f << mpLocalMapper->mInitTime << endl;
    f.close();
}


int System::GetTrackingState()