First frame initialization issues about pose estimation

[Aurora-chevalier]

Hello Dr, I have questions about the position of your pose initialization, when I change the first frame of initialization prediction pose est_pose (0) to the given second frame gt pose, the reconstruction effect is very unsatisfactory, do you know what is the cause? Or does co-slam have to set the prediction est_pose (0) to the gt pose of the first frame to achieve pose estimation for subsequent frames?