Passing saved poses instead of computing them yields different results

[mihaibujanca]

I am running a couple of tests on the code and tried saving the poses to a file and passing them as an additional parameter to ProcessNextFrameWithReinit. I've commented out

m_rigid_solver->SetInputMaps(solver_maps, observation, m_camera.GetWorld2Camera());
const mat34 solved_world2camera = m_rigid_solver->Solve();

and instead passed the precomputed pose to the camera.

I was wondering if there is any reason calling the rigid solver methods might be necessary.

I am still investigating the issue, but at some point I'm getting surfelwarp/core/geometry/WarpFieldUpdater.cpp:162: Invalid wight in node KNN

[mihaibujanca]

This was due to the way Eigen was copying the precomputed poses, my bad