save poses about semantic_suma

[Chen-Xieyuanli]

Thanks for using our code. As the error says, the calibration matrix is not correctly loaded.
You may check whether the calib.txt file is at the sequence folder.

[pikaqiu0131]

Hello, I use the Save positions in the upper left corner of the GUI to save after each run, and then set my data file as follows：
--data
--08
--velodyne
--calib.txt
--times.txt
--image2
--image3
--calib.txt

after run the whole, I save poses, then the error turn out:
terminate called after throwing an instance of 'std::runtime_error'
what(): Unknown name for calibration matrix.
已放弃 (核心已转储)

[pikaqiu0131]

for the calib.txt ,I think I have loaded?
Successfully create binding buffer
calibration filename: /home/sunyuhua/data/sequences/08/calib.txt...loaded.
ground truth filename: /home/sunyuhua/data/poses/08.txt
4071 poses read

[Chen-Xieyuanli]

You may futher check the save_poses function here:

semantic_suma/src/visualizer/VisualizerWindow.cpp

Line 848 in 99df494

void VisualizerWindow::savePoses() {

[BIT-TYJ]

I replaced the save_poses function

semantic_suma/src/visualizer/VisualizerWindow.cpp

Line 848 in 99df494

void VisualizerWindow::savePoses() {

in suma++ with the corresponding part https://github.com/jbehley/SuMa/blob/1beb131cbad33edf157d0a2333fb6193ffd6cc23/src/visualizer/VisualizerWindow.cpp#L840 in suma, and found it solved the problem.

Note that the poses output by suma and suma++ are in the different coordinates, it seems that the poses output by suma are in the same coordinate system as the ground-truth of kitti, which should make it easier to compare pose errors.

[Chen-Xieyuanli]

Dear @BIT-TYJ, thanks a lot for your feedback!
Since the problem is solved, I will close this issue and also label it as a good start issue for other users.

[BIT-TYJ]

Glad to solve a problem!