Hi.. I am totally new to VSLAM algorithms and would want to plot the path followed by the moving camera. The output of running a rgb-d on TUM data set produces a CameraTrajectory.txt file. The file is in the format : time_stamp tx ty tz qx qy qz qw . I am aware of that the rotation is in Quarternion form but cannot figure out how to plot the full 3D plot of the camera path from these four values tx,ty,tz,qx,qy,qz,qw . I need a time_stamp x y z format.
thohemp
commented
5 years ago
Hi.. I am totally new to VSLAM algorithms and would want to plot the path followed by the moving camera. The output of running a rgb-d on TUM data set produces a CameraTrajectory.txt file. The file is in the format : time_stamp tx ty tz qx qy qz qw . I am aware of that the rotation is in Quarternion form but cannot figure out how to plot the full 3D plot of the camera path from these four values tx,ty,tz,qx,qy,qz,qw . I need a time_stamp x y z format.