Format of kitti poses dataset poses and how re-create using imu

Question

I am currently trying to make a monocular visual odometry system for a project. autonomus rc car. I read these blogs- https://avisingh599.github.io/vision/visual-odometry-full/ https://avisingh599.github.io/vision/monocular-vo/ and downloaded this github code- https://github.com/snmnmin12/VisualOdometry I modified the code to use a webcam.
I wanted to use the concepts described above mentioned websites for my application and use images form a logitech webcam. So I downloaded the kitti dataset gray and also the poses dataset. But I don't understand the meaning or nature of the poses data. So I googled and found these results- https://github.com/MichaelGrupp/evo/wiki/Formats https://github.com/alexkreimer/odometry/blob/master/devkit/readme.txt These information helped me to understand in which format the text file used in the code. But I still dont understand what does it contain and how can I make my own dataset using sensors like imu or wheel encoders. Or how to generate poses information so that I can use it for my own purpose.

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