mappoint文件
- 记录系统在不同状态的时候,所有3d点的坐标
- x坐标,y坐标,z坐标
- 3d点的id就是行号
0.0845903,0.0371001,0.200517,
0.290804,0.0449659,0.602314,
0.0698009,0.0567184,0.263692,
0.345128,-0.31175,0.904925,
-0.0168172,0.0378649,0.151037,
姿态文件
- 记录系统在不同状态的时候,所有KeyFrame的姿态
- 帧的名字,帧号,变换矩阵第一行,变换矩阵第二行,变换矩阵第三行
- 帧的名字可以是一开始的图片的名字,也可以是虚拟的,后面keypoint,mappoint的索引都会用这个帧的名字。也能通过帧的名字找到最初使用的那张图片
- 帧号目前还没有被使用
- 姿态的变换矩阵是从相机到世界的
img_0.jpg,0,-0.999175,0.0372725,0.0161396,-2.52076,-0.021517,-0.148714,-0.988646,3.86184,-0.0344491,-0.988178,0.149393,5.5258
img_8.jpg,1,-0.999298,0.037157,-0.00475197,-2.36126,-0.000859154,-0.149557,-0.988753,1.71159,-0.0374498,-0.988055,0.149484,5.62684
img_9.jpg,2,-0.999289,0.0370358,-0.00703188,-2.34972,0.00142838,-0.149201,-0.988806,1.44888,-0.0376704,-0.988113,0.149042,5.63481
im