Loaded camera extrinsic is different from raw .pose.txt file

[MisEty]

Thanks for sharing your work. I try to use DSM on 7scenes datasets but I noticed that the camera extrinsic is loaded from "deep_retrieve_full.bin" and the translation vector is different from corresponding frame-xxxxxx.pose.txt. Why is there this difference?

[Tangshitao]

It was taken from DSAC++. I think DSAC++ optimize those intrinsics.