trajectory alignment

[emilianogagliardi]

Hi,
I want to evaluate my visual odometry algorithm (6 DoF) by aligning the estimated trajectory with a ground truth trajectory.
Images and ground truth comes from a bag, where ground truth poses are geometry_msgs/PoseStamped messages. The VO algorithm is implemented in matlab, at the moment I simply iterate over bag images and I do not have a topic in which estimated camera poses are published, however images are read from the bag thus I can associate estimated poses with corresponding images timestamps.
Can I use this tool for trajectories alignment, without the need of creating a bag containing both ground truth and estimated poses? Maybe I can convert my estimated trajectory in some trajectory object the aligners expect to receive, without passing from a bag creation?

Thank you in advance