File format slam 3d

This page summarizes the file format for the 3D SLAM vertices and edges.

Vertices

The vertex information represents the current state of the parameters.

3D Robot Pose

\( \mathrm{VERTEX\_SE3:QUAT} \; i \; x \; y \; z \; qx \; qy \; qz \; qw \)

Specifies a 3D robot pose \( \mathbf{x}_i = (x, y, z, qx, qy, qz, qw)^T \) where \( (x,y,z) \) represents the translation and \( (qx,qy,qz,qw) \) the rotation as a quaternion. See http://eigen.tuxfamily.org/dox/classEigen_1_1Quaternion.html for the details about the quaternion.

3D Point

\( \mathrm{VERTEX\_TRACKXYZ} \; i \; x \; y \; z \)

Specifies a 3D point \( \mathbf{x}_i = (x, y, z)^T \) which is located at \( (x,y,z) \).