Fix/data source fast failure

ToniRV / Kimera-VIO-Evaluation

Code to evaluate and tune SPARK VIO pipeline.

MIT License

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Fix/data source fast failure #21

Closed marcusabate closed 4 years ago

marcusabate commented 4 years ago

Refactored to move the code that generates results and metrics data to a separate function to clean the code a bit.

Fixed the bug causing this pr to fail. This was caused by pgo trajectory being synchronized and aligned after num_poses for reduce_to_ids was selected (incorrectly).