How to predict depth aligned with pose?

[ahangchen]

I want to align the depth by your single image depth prediction branch with the pose predicted by the pose branch during inference. But it seems that you don't use pose when depth inference? I only find model.infer_depth() in the test code which only use single image. I'm afraid that depth consistency without pose aligned is not guaranteed.

[liyingliu]

@ahangchen I guess you could refer to the function process_video in infer_vo.py (https://github.com/B1ueber2y/TrianFlow/blob/master/infer_vo.py#L161)