QsingHuan

> > I try to run DSO on the https://daniilidis-group.github.io/penncosyvio/ dataset. It works but when I look at the result I don't see a timestamp, every pose has timestamp 0....

You need to provide a times.txt file for the timestamp to work https://github.com/JakobEngel/dso/blob/7b0c99f01d238f801c625beaff90240bcb007198/src/util/DatasetReader.h#L294 https://github.com/JakobEngel/dso/blob/7b0c99f01d238f801c625beaff90240bcb007198/src/util/DatasetReader.h#L297 see the times.txt in the sample data for reference

Same question.