Can we plot the GT trajectory in the GUI?

[alik-git]

Can we plot the GT trajectory in the GUI?

[muskie82]

Hi,

Thank you.
For RGB-D case, you can quickly add GT pose frustum in GUI with a few lines of code. Insert the following code after this line.

name = "gt_{}".format( keyframe.uid)
frustum = self.add_camera(keyframe, name=name, color=[1, 0, 0], gt=True)

This will display the GT poses as red frustums in the GUI.

Note that "GT pose" referred to here means the GT relative pose against the first frame.
Thus, these GT poses looks slightly different from the one in ATE evaluation plot, which performs whole trajectory alignment between GT/estimated trajectory.

Also, please keep in mind that this visualization might not be meaningful for monocular cases because the scale is not adjusted.