mapoptimization.cpp -->saveKeyFramesAndFactor() ->graph update

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BSD 3-Clause "New" or "Revised" License

2.33k stars 1.11k forks source link

mapoptimization.cpp -->saveKeyFramesAndFactor() ->graph update #187

Closed BAOQILIN closed 3 years ago

BAOQILIN commented 4 years ago

in file mapoptimization.cpp/ saveKeyFramesAndFactor(),why update twice consecutively.

{/**

update iSAM */ isam->update(gtSAMgraph, initialEstimate); isam->update(); gtSAMgraph.resize(0); initialEstimate.clear(); }

stale[bot] commented 4 years ago

This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions.