Closed heroacool closed 4 years ago
Hi @heroacool I think that's the way to use isam2 in GTSAM, it clears the values for next optimization. One example can be found here. https://github.com/devbharat/gtsam/blob/master/examples/VisualISAM2Example.cpp
Hi @heroacool I think that's the way to use isam2 in GTSAM, it clears the values for next optimization. One example can be found here. https://github.com/devbharat/gtsam/blob/master/examples/VisualISAM2Example.cpp
Got it. Thanks !
Hi @TixiaoShan , when reading the mapOptimization.cpp, I am confusion with the gtsam update operation. What's the purpose of isam->update(), and why need to gtSAMgraph.resize(0) ?
It seems to reset the pose graph instance. If so, it may not take the most advantage of gtsam.
I try to comment these 3 lines, it will lead to error "key already exists".
So could you please explain the operation? Great appreciation to your response.