How to get the camera position and CameraTrajectory.txt

shichaoy / semantic_3d_mapping

Semantic 3D Occupancy Mapping through Efficient High Order CRFs

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How to get the camera position and CameraTrajectory.txt #12

Closed anzisheng closed 5 years ago

anzisheng commented 5 years ago

First, thank you for sharing the code? Could you tell me how to get the "CameraTrajectory.txt"? and meaning of parameters of each row. And I want to know how to compute the camera pos？ Thanks!

shichaoy commented 5 years ago

hi, @anzisheng that is output from orbslam. Each row representing a camera pose. each row 12 numbers, which are the flattened number of top 3 rows of standard 4*4 pose matrix. namely each row is flattened [R t]