how to draw a trajectory picture using the pose result

[nianticlabs]

how to draw a trajectory picture using the pose result

[kwea123]

maybe my repo can help you. https://github.com/kwea123/monodepth2/blob/master/depth_prediction_example.ipynb

[sunnyHelen]

N X 4 X 4 and N X 12

[FangGet]

just save and draw translation vector (3 * 1)

[mdfirman]

Yes the N x 12 vector is just the 4x4 with the bottom row removed and reshaped into a flat vector.

In terms of plotting the trajectory: Yes, as @FangGet you can take the translation component. To chain together all your predictions together into the full sequence you might need to accumulate all rotation and translation poses in the sequence. We never did these visualisations for the paper – if you need code for this you might be best looking at a repo by people who have made these pose diagrams.

[sunnyHelen]

appreciate a lot for your help~

[sunnyHelen]

Wow, it's very helpful. Thank you very much :)

[sunnyHelen]

@kwea123
How do you get the scale value?

And I got a picture like this:

I don't know why I always get two pred lines.

[kwea123]

@sunnyHelen Hi I think it's better to discuss in my repo since it's no longer an issue for this repo.
Can you open an issue in my repo?
Thanks.

[sunnyHelen]

Oh, sure. Thanks for your kind reply

[FangGet]

try this：https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/src/rgbd_benchmark_tools/evaluate_ate.py

[kwea123]

@sunnyHelen I just opened the issue tab.

[luyao777]

@sunnyHelen Hi, could u share your visualization code? I got some chaotic figures. thx.

[emad555]

Try EVO toolkit:
https://github.com/MichaelGrupp/evo