Error in trajectory

[WANG-KX]

There are some transformations in trajectory.log that are not SE3 matrix. For example, in sequence 092, from line 6296 to line 6300: 1259 1259 1260 0 0 0 0.032024 0 0 0 3.15572 0 0 0 -1.4815 0.000000 0.000000 0.000000 1.000000 the rotation matrix is all zero.

[songuke]

Thanks for reporting this issue. This could be due to a lost track occurred during reconstruction.

Possible solutions: (1) Ignore them in your application. (2) Try using other reconstruction technique (e.g., those from ScanNet, or a fine-to-coarse tracking: https://github.com/mhalber/Fine-To-Coarse-Registration).