Questions about the code

[cugwzl]

The initial poses（start_pose）in the code seem to have been calculated from GroundTruth,I don't know if I'm getting this wrong.If it's based on the calculation, isn't it inappropriate.
I would appreciate it if you could kindly reply to me in your spare time.

[salykova]

Hi,

start_pose is calculated from GroundTruth in order to test influence of initial error. However, initial pose of cam_transf is chosen randomly see here.