KeyFrameTrajectory от orbslam
В настоящее время я использую ORBSLAM2, чтобы получить траекторию. Я использую данные Mono_Euroc и Euroc. После того, как я реализую код, он даст мне KeyFrameTrajectory.txtДокумент похож на следующий
1403636859.051666 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 0.0000000 1.0000000
1403636859.101666 0.0052761 -0.0075593 -0.0029220 -0.0024584 0.0017339 -0.0002099 0.9999955
1403636859.151666 0.0099931 -0.0141379 -0.0054311 -0.0055782 0.0035017 -0.0008020 0.9999780
1403636861.251667 0.0569064 -0.2366553 -0.0764295 -0.0319534 0.0421878 -0.0153744 0.9984803
1403636866.301666 0.0377099 -0.4162244 -0.1219162 0.0206283 0.0612019 -0.0017157 0.9979107
1403636867.951666 0.0523094 -0.1346069 -0.1310166 -0.2880898 0.0428896 0.0141127 0.9565383
1403636868.601666 0.0272679 -0.1429166 -0.1559830 -0.2452542 0.0522323 0.0228776 0.9677803
Тем не менее, когда я читаю основную истину из Euroc, это примерно так (мне нужны только первые семь чисел, x,y,z и кватернион)
1403636859536666368,4.621150,-1.837605,0.739627,0.567395,-0.129040,-0.810903,-0.062030,-0.023437,0.061278,0.432133,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859541666560,4.621028,-1.837298,0.741803,0.567097,-0.129158,-0.811071,-0.062319,-0.025057,0.061811,0.438259,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859546666496,4.620899,-1.836987,0.744008,0.566828,-0.129267,-0.811216,-0.062659,-0.026706,0.062309,0.443997,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859551666432,4.620761,-1.836674,0.746240,0.566591,-0.129366,-0.811335,-0.063049,-0.028279,0.062875,0.448690,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859556666624,4.620616,-1.836359,0.748492,0.566376,-0.129457,-0.811437,-0.063486,-0.029908,0.063360,0.452007,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859561666560,4.620462,-1.836041,0.750757,0.566179,-0.129538,-0.811524,-0.063963,-0.031648,0.063587,0.453974,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
1403636859566666496,4.620300,-1.835723,0.753029,0.566003,-0.129617,-0.811595,-0.064467,-0.033254,0.063620,0.454774,-0.002535,0.021162,0.077170,-0.024346,0.144439,0.067540
Как мы видим, данные имеют большую разницу. Я уверен, что мне нужно перенести систему координат данных из Trajectory.txt в систему координат данных Groundtruth. Но как я мог это сделать?