绘制ORB-SLAM2/3运行结果KeyFrameTrajectory.txt

1 介绍

KeyFrameTrajectory.txt中以$T_{cw}$格式（相机坐标系->世界坐标系）存储了关键帧的位姿。各字段含义为，

timestamp tx ty tz qx qy qz qw

2 代码

import os 
import sys 
import time 
import matplotlib.pyplot as plt
from scipy.spatial.transform import Rotation
import numpy as np

if __name__ == "__main__":
    start_t = time.time()
        
    input_txt_path = "KeyFrameTrajectory_kitti_00.txt"
    x_coordinates