How to set the init-pose parameter for TUM RGB-D dataset and ICL-NUIM Office Room dataset?

[lingli2000]

I have two questions about running more datasets on SLAMBench:

1. Is it possible to use TUM dataset as an input stream? If no, how to convert TUM to ICL-NUIM dataset format?
2. For running TUM and ICL-NUIM Office Room dataset, how to set the init-pose parameter? Is it calculated by the first line of ground-truth.txt in "timestamp tx ty tz qx qy qz qw" format?

[seomk97]

I have same question about obtaining initial -p -k -s values for each trajectory

[bbodin]

Unfortunately there are no perfect values and I am not aware of such a list. I believe that in our last benchmark work we set the volume to be big enough for every scene so that we did not need to customize these values.