Closed Cristian-wp closed 1 year ago
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!
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.