How to convert ICL-NUIM to tandem format?

[HappyB1rthday]

Hello, Thank you for your work.
I have download the ICL-NUIM dataset from the official website, and I tried to convert it to tandem format for depth-estimation on the CVA-MVSNET. I use the abl04_fewer_depth_planes.ckpt.
I have processed the data in the TUM-RGBD format, converted the quaternions to pose matrix and run DSO to record the optimization window. But it does not work.
Could you tell me how to convert ICL-NUIM to tandem format?

[HappyB1rthday]

I run the abl04_fewer_depth_planes.ckpt on python. From top to bottom in the picture are groundtruth depth from ICL-NUIM, stage1's estimation, stage2's est, stage3's est. I didn't do anything other than use colormap to enhance the display. But there is nothing wrong with using abl04_fewer_depth_planes.ckpt to run euroc_tandem_format and replica_tandem_format.

[HappyB1rthday]