Trajectory is required? Any way to estimate on my own dataset?

[nexus1203]

Is trajectory.txt is required? I have a RGB-D dataset that I collected on my own but I dont know how to use with your repo. May you be kind enough to guide me in the right direction.

[goldoak]

Yes, the trajectory is required as this is only a mapping system. We use OKVIS2, a Visual-Inertial SLAM system to estimate the poses for our self-collected drone data. Alternatively, you can explore other open-source SLAM systems, such as ORB-SLAM3, which supports RGB-D setups for pose estimation in your case.