def METHOD_NAME(self, scale=1):
    frames = []
    for img in self.images.values():
        # rotation
        R = qvec2rotmat(img.qvec)
        # translation
        t = img.tvec
        # pose
        t = -R.T.dot(t)
        R = R.T
        # intrinsics
        cam = self.cameras[img.camera_id]
        if cam.model in ('SIMPLE_PINHOLE', 'SIMPLE_RADIAL', 'RADIAL'):
            fx = fy = cam.params[0]
            cx = cam.params[1]
            cy = cam.params[2]
        elif cam.model in ('PINHOLE', 'OPENCV', 'OPENCV_FISHEYE'):
            fx = cam.params[0]
            fy = cam.params[1]
            cx = cam.params[2]
            cy = cam.params[3]
        else:
            raise Exception('unsupported camera model: {}'.format(cam.model))
        K = np.identity(3)
        K[0,0] = fx
        K[1,1] = fy
        K[0,2] = cx
        K[1,2] = cy
        # create axis, plane and pyramid geometries that will be drawn
        cam_model = draw_camera(K, R, t, cam.width, cam.height, scale)
        frames.extend(cam_model)
    logging.info('add {} frames'.format(len(frames)))
    for i in frames:
        self.vis.add_geometry(i)