• Place map.map file next to Python scripts.

• Run:

py make-convert.py
py make-pointcloud.py

This will give you files containing per pose point clouds and file with poses:

To display poses use CloudCompare and set trans_wc_x, trans_wc_y and trans_wc_z as X, Y and Z coordinates. Ignore rest.

To display full point cloud load all landmarks-for-keyframe-X.csv files in CloudCompare: