Function ouster::sdk::mapping::save_trajectory

Function Documentation

void ouster::sdk::mapping::save_trajectory(const std::string &filename, const std::vector<uint64_t> &timestamps, const std::vector<core::Matrix4dR> &poses, const std::string &file_type = "csv")

Saves a trajectory into a file.

This function exports the given sequence of timestamps and corresponding 4×4 pose matrices to an output file. Supported output formats are:

  • ”csv”: comma-separated values with columns timestamp, tx, ty, tz, qx, qy, qz, qw

  • ”tum”: TUM trajectory format: timestamp tx ty tz qx qy qz qw

Parameters:

  • filename[in] Path of the file to write.

  • timestamps[in] A vector of uint64_t timestamps, one per pose.

  • poses[in] A vector of 4×4 Eigen homogeneous transforms matrix, each representing the pose at the matching timestamp.

  • file_type[in] Output format selector: “csv” or “tum” (default = “csv”).

Throws:

std::runtime_error – on I/O error or unsupported file type.