在poses目錄下，包含00.txt-10.txt 11個序列，每一個檔案包換Nx12個表格，N代表幀數。每一行利用3x4轉移矩陣代表左邊相機系統位姿，轉移矩陣將當前幀左邊相機系統中的一個點對映到第0幀的座標系統中。轉移矩陣中平移的部分表示當前相機位置(相對於第0幀)。 Groundtruth

sequence 00的地面地圖如下圖所示： %% display groundtruth of KITTI poses % include sequence from 00-10.txt

% read from poses filename = ‘/home/qinhaidong/桌面/data_odometry_gray/poses/00.txt’; fid = fopen(filename); fseek(fid, 0, ‘bof’); lastposition = ftell(fid); disp([‘start position:’,num2str(lastposition)]);

groundtruth = [];

while fgetl(fid) ~= -1, % end of line check

fseek(fid, lastposition, 'bof');
line = textscan(fid,'%f %f %f %f %f %f %f %f %f %f %f %f\n',1);
line = [line{:}];
transform = vec2mat(line,4);

groundtruth = [groundtruth; [transform(1,4), transform(3,4)]];
lastposition = ftell(fid);
disp(['lastposition:',num2str(lastposition)]);
 

end

% display ground truth scatter(groundtruth(:,1),groundtruth(:,2));

fclose(fid);