Sampling of egomotion trajectory and monocular trajectory

[sandeepnmenon]

In the code I see there is a one-one mapping of the poses of the egomotion with that of the monoculat trajectory.
However, since egomotion trajectory calculation is done via sensors like IMU with frequency of about 100-200Hz and camera of 20Hz. How to sample the poses from the two trajectories before using this module for calibration?

In your synthetic experiments, this issue is not there because the entire trajectory in all timestamps can be retrieved by the synthetic plane model.