Reproduce camera poses

[nanaBaah]

From poses section of the kitti360 documentation, it states that: data_poses/2013_05_28_drive_{seq:0>4}_sync/cam0_to_world.txt: Each line has 17 numbers, the first number is an integer denoting the frame index and the rest is a 4x4 matrix denoting the pose of camera 0 in a global Euclidean space.

Purpose:

I want to reproduce camera poses from a moving car. I have both camera and GPS/IMU rigidly retrofitted on the roof of the car. These sensors (camera and GPS/IMU) do not change position or orientation.

Question:

• How can I reproduce the same output file as the cam0_to_world.txt for a totally different dataset? The steps and/or code will be helpful