Can we plot the GT trajectory in the GUI?

[alik-git]

Hey guys congrats on the great work.

I think it would be quite helpful to plot the GT trajectory as well in the GUI to allow for comparison. I can take a look at doing it myself, but I'm still familiarizing myself with the code, so if you could give me your thoughts on what my options are for implementing this at a high level that would be great.

if you already have the code for doing that, please point me to it, thank you!

[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.