wonderful

And the result is actually better because of the 1 more iter of mapping. 

> > > I think the offline mode in the Nerfcapture app is broken as pointed out by the app's developer here [jc211/NeRFCapture#10 (comment)](https://github.com/jc211/NeRFCapture/issues/10#issuecomment-1701908651). I tried renaming the files yesterday...

> If I provide external camera pose and do not want to use your tracking method, what should I do? Just set use_gt_pose=True, as `configs/replica/splatam.py': ```python tracking=dict( use_gt_poses=False, # Use...

> led by imu rotation mat can you show me how you get your initial pose from imu data(a_t, w_t, timestamp)?