How GTSAM is used?
Cristian-wp opened this issue · 2 comments
Hi @jedeschaud ,
as you previously say using CUDA with ceres does not improve the resolution speed in this case.
Now, I have see inside ahttps://github.com/jedeschaud/ct_icp/blob/master/CMakeLists.txt that during the compilation GTSAM is searched:
option(WITH_GTSAM "Search GTSAM dependency (disabled by default)" OFF)
Even GTSAM can use CUDA with Eigen, so I would like to understand how GTSAM is used in the code.
Thanks in advance.
Well...
GTSAM is currently simply not used as of this time in the code.
We are preparing a Loop Closure release with a Factor-Graph based optimization built using GTSAM.
But for now, the repo only has a LiDAR Odometry, which uses Ceres for optimization in the ICP.
Hope this clarifies your questions.
Perfectly clear!