gisbi-kim/SC-A-LOAM

Why the odometry is faster than SC-PGO, and when the odometry finished, the SC-PGO doesn't work even the optimization not finished!

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cuge1995 commented
Why the odometry is faster than SC-PGO, and when the odometry finished, the SC-PGO doesn't work even the optimization not finished!
gisbi-kim commented

thanks for using our project.

  1. PGO uses only keyframes (e.g., equidistant) to mitigate heavy optimization burdens while odometry publishes every all (e.g., 10Hz) motion estimations
  2. SC-PGO internally runs isam2 optimization so if you have many nodes and factors, the odometry and pgo seem not to be quite synchronized, but I expect the pgo would soon converge and finish if you wait a little time.