How to convert from KITTI saved trajectory keyframes to the input of your code ?

[ghost]

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.