Get wrong result

[cvidkal]

Thanks for your code. I compiled your code on ubuntu 14.04 with eigen 3.22 and CUDA7.5, and I use fr1_desk dataset to test. But I the ate of result is 0.8m which is much larger than your result reported in your readme page. Is there any mistake could I made?

[mp3guy]

Are you using Eigen and Sophus from Steven Lovegrove's branch?