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Hello,
In these lines of code, I found that these are different from the output of the function getKeyFramePoints of the ORB_SLAM2, specifically, in ORB_SLAM2 it will output something like this:
R is a rotation matrix, t is the camera center, the output includes 12 values at all.
But in your code from pointCloudToGridMap2D.py, you want to read trajectory keyframes like this:
It means you only need 8 values at all included keyframe x,y,z, timestep, and keyframe quaternions.
So I want to ask, what is the difference between them and how to change from ORB_SLAM2 format to your code format.
Thanks in advance.
The text was updated successfully, but these errors were encountered:
Hello,
In these lines of code, I found that these are different from the output of the function getKeyFramePoints of the ORB_SLAM2, specifically, in ORB_SLAM2 it will output something like this:
R is a rotation matrix, t is the camera center, the output includes 12 values at all.
But in your code from pointCloudToGridMap2D.py, you want to read trajectory keyframes like this:
It means you only need 8 values at all included keyframe x,y,z, timestep, and keyframe quaternions.
So I want to ask, what is the difference between them and how to change from ORB_SLAM2 format to your code format.
Thanks in advance.
The text was updated successfully, but these errors were encountered: