Saving all the Trajectory if not Merging

[ayushGHub]

Is it possible to save all the trajectories generated instead of the only one which is saved automatically after mapping ends?

This image sequence of walking on a straight road so they will never reach any points mapped before so there won't be any merging. So I want to save all the trajectories.

This is how it looks like

[wangtsiao]

hi ayushGHub, this question has been mentioned here #310.

maybe you can try this fixed repository https://github.com/neo-knight-td/ORB_SLAM3/tree/save_load_branch.

[Jiaxin8122]

Could we add wechat (william_hjx)? Just few questions about the save/load function. Thx

[wangtsiao]

@Jiaxin8122 hi, jiaxin8122 welcome to post question here.

[Jiaxin8122]

Ok. Why comment this line from 874-883? https://github.com/neo-knight-td/ORB_SLAM3/blob/dcbb81929fae979384582e9c64c74a30e117cd86/src/KeyFrame.cc#L873 Is save the map point id not necessary? Also there are some other lines you also commented...
Another question is I have saved and reload the map with my monocular, it looks good. But when I change the relocalization mode on the GUI. The frames always failed to track and the GUI get blank. Are there other variables I have to save?

[wangtsiao]

Yeah, don't need to save mapPoints' id. Since mapPoints's points save in a STL vector, we directly save MapPoints though ar &mvpMapPoints; in serialize(). As for why the status is lost, I don't know, may be it's a bug in ORB_SLAM3. In short, ORB_SLAM is a repository that needs to be developed.