How can i save the real-time position estimation values ​​as a document?

[keiro23]

Hello, I am an undergraduate student at university and a developer interested in SLAM. I am now running Kimera on ros using realsense d435i. Thanks to the interesting programs you have created, I am experimenting with various things in this program. Recently, I want to measure the accuracy of this program by outputting the estimated x, y, z values ​​and rotation values ​​as a document when experimenting with a realsense camera. When visualized with rviz, it is expected that Kimera is storing the above values ​​somewhere, but I am having a hard time not knowing exactly where and how. So, if you don't mind, I'd appreciate it if you could tell me the commands that can save the real-time position estimation values ​​as a document and how to add the commands to a file. Have a nice day today, and once again thank you for making such a wonderful program.