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zju3dv / Vox-Fusion

Code for "Dense Tracking and Mapping with Voxel-based Neural Implicit Representation", ISMAR 2022
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Using ground truth poses during reconstruction #29

Closed eriksandstroem closed 1 year ago

eriksandstroem commented 1 year ago

Hi, What is the easiest way to run your code with ground truth poses? I see that there is the config option "use_gt", but that does not seem to influence whether gt poses are retrieved during mapping. I could try myself to hack it, but would like to check with you as well since you know the codebase.

Cheers,

xingruiyang commented 1 year ago

Hi @tfy14esa ,

use_gt is a legacy option that is unused in our release code. With regard to your question, I would say initializing frame poses from the ground truth ones, then keeping them constant by moving pose optimizers out of the optimization loop is the easiest option.

eriksandstroem commented 1 year ago

Thanks, makes sense.