Added Output directory for ERRAngISO and ERRAndSfm

Author: hekeiva

Modules/GroundTruth/GroundTruthKeyFrame.cc

@@ -58,7 +58,7 @@ namespace defSLAM
    * pcl library to determinate the normals of the point cloud and compares them 
    * with the estimated by the NRSfM and the SfN. NRSfM tends to be quite noisy.
    */
-  float GroundTruthKeyFrame::estimateAngleErrorAndScale()
+  float GroundTruthKeyFrame::estimateAngleErrorAndScale(std::string output_path)
   {
     size_t nval = this->mvKeysUn.size();
     cv::Mat iLeft(this->imGray.clone());
@@ -197,9 +197,9 @@ namespace defSLAM
     std::ostringstream out;
     out << std::internal << std::setfill('0') << std::setw(5)
         << (unsigned int)(this->mTimeStamp);
-    std::string name("ErrorAngIso" + out.str() + "-" + std::to_string(is) +
+    std::string name(output_path+"/ErrorAngIso" + out.str() + "-" + std::to_string(is) +
                      ".txt");
-    std::string name2("ErrorAngSfN" + out.str() + "-" + std::to_string(is) +
+    std::string name2(output_path+"/ErrorAngSfN" + out.str() + "-" + std::to_string(is) +
                       ".txt");
     is++;
     GroundTruthTools::saveResults(ErrorAngleIso, name);

Modules/GroundTruth/GroundTruthKeyFrame.h

@@ -55,7 +55,7 @@ namespace defSLAM
    * pcl library to determinate the normals of the point cloud and compares them 
    * with the estimated by the NRSfM and the SfN. NRSfM tends to be quite noisy.
    */
-    float estimateAngleErrorAndScale();
+    float estimateAngleErrorAndScale(std::string output_path);
 
     // Drawer purposes. Not used now
     std::vector<cv::Point3f> mvLocalMapPoints, mvStereoMapPoints;

Modules/Mapping/DefLocalMapping.cc

@@ -56,6 +56,7 @@ namespace defSLAM
         chiLimit_(0.07)
   {
     cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);
+    output_path = (std::string)fSettings["File.outputdir"];
     pointsToTemplate_ = fSettings["LocalMapping.pointsToTemplate"];
     chiLimit_ = fSettings["LocalMapping.chiLimit"];
     double reg_ = fSettings["LocalMapping.Schwarp.Regularizer"];
@@ -215,7 +216,7 @@ namespace defSLAM
     if (saveResults_)
     {
       float scale =
-          static_cast<GroundTruthKeyFrame *>(kfForTemplate)->estimateAngleErrorAndScale();
+          static_cast<GroundTruthKeyFrame *>(kfForTemplate)->estimateAngleErrorAndScale(output_path);
       std::cout << "Scale Error Keyframe : " << scale << " " << std::endl;
     }
     if (kfForTemplate != mpMap->GetAllKeyFrames()[0])

Modules/Mapping/DefLocalMapping.h

@@ -135,6 +135,8 @@ namespace defSLAM
     double bendingReg_;
     // Save results
     bool saveResults_;
+  private:
+      string output_path;
   };
 
 } // namespace defSLAM

Modules/Viewer/DefViewer.cc

@@ -44,7 +44,7 @@ namespace defSLAM
     RegLap = fSettings["Regularizer.laplacian"];
     RegInex = fSettings["Regularizer.Inextensibility"];
     RegTemp = fSettings["Regularizer.temporal"];
-    output_path = (std::string) fSettings["File.outputdir"];
+    output_path = (std::string)fSettings["File.outputdir"];
 
   }
 

Thirdparty/ORBSLAM_2/src/Tracking.cc

@@ -61,7 +61,7 @@ namespace ORB_SLAM2
 
     cv::FileStorage fSettings(strSettingPath, cv::FileStorage::READ);
 	// Load output dir
-	output_path = (std::string) fSettings["File.outputdir"];
+    output_path = (std::string) fSettings["File.outputdir"];
     // Load camera parameters from settings file
     float fx = fSettings["Camera.fx"];
     float fy = fSettings["Camera.fy"];