How do I save aligned trajectory after doing --t_offset and how to use evo_ape for aligned trajectories

[prashkmr]

Hi

I have a serious question about calcuating ape/rpe using trajectories that are not aligned. For a given GT and predicted trajectory I was able to align the trajectory, but I am unable to find out a way to save the aligned trajectory in tum format or calcualte ape/rpe using the aligned trajectories.

This is causing a lot of trouble for me.

I looked at another issu here and was able to align some of the trajectory. However, I am still unable to find a way to calculate the ape/rpe using the aligned trajectories.

Could someone suggest how to do this. My work is currently stuck for last 3-4 days on account of this single issue. Request your earnest help.

Thanks