Where are the groundtruth poses used? about cmrnet

[cattaneod]

Thank you for your interest in our work.

The ground truths are embedded in the preprocessed point cloud, i.e., in the preprocessing step I save the local point cloud for each camera frame. This means that the ground truth for each (camera, point cloud) pair is the identity.

During training/inference, I apply a random transformation H_init to the point cloud, feed it to the network (together with the image), and the network predicts the transformation H_pred. The composed pose H_init*H_pred should be as close as possible to the identity transformation.

I hope my explanation is clear.