How to consider known poses of the Kinect while mapping with RGBDSLAM?

edit

Hey!

I am using RGBDSLAM with ROS (groovy) and a Kinect.
To improve the mapped data, I want to use known poses (of a tracking system) of the Kinect to
first: improve the mapping
second: have the map in the right coordinate plane

Now I wonder if it is possible to make RGBDSLAM consider the known poses and how.
As far as I know it is still not much fun to use "external" odometry while using RGBDSLAM, is that right?
But I was hoping to not use it as odometry but mabye instead of the estimated odometry of RGBDSLAM. I was setting all my hope into "config/ground_truth_frame_name", but I wasn't able to figure out what it really does. Is it just used for the first calculation?

I am sorry for the very general question. I've been trying that for a while now and was hoping somebody here could give me a hint. (Mabye also where to fiddle with the code in rgbdslam - graph_manager? - if necessary)

Thanks in advance for the reply

Bubble

Update:
By now I figured out, that "ground_truth_frame_name" is really just used for the first Node added by the GraphManager and not considered afterwards. Furthermore I noticed that it won't help setting the parameter "odom_frame_name" without changing the code in GraphManager, since right now it doesn't use the parameter at all. ;)

So I tried to adjust GraphManager.cpp in a way that it uses the parameter "odom_name_frame" and hoped to be able to JUST use the odom_edge for adding new Nodes. Therefore I wanted to change the informationMatrix of the odometry in the //FIXME part of the GraphManger.cpp, but I still couldn't figure out what parameter exactly I should use for that.

Am I on the right track?
And can anyone help me with that?