Keyframe trajectory explanation

[Markbanfd]

Hello,

Could you give some further insight about the output keyframe trajectory for the monocular examples?
The first column is the timing. Then is t (the next 3 columns) the camera position in (x,y,z) and q (the last four columns) the camera orientation in quaternion?

Does this:
cv::Mat R = pKF->GetRotation().t();
return the orientation in (x,y,z) (no quaternion)?

Thanks.

[raulmur]

SaveKeyFrameTrajectoryTUM() save keyframe poses in the format of the TUM RGB-D dataset. Check http://vision.in.tum.de/data/datasets/rgbd-dataset