search

jedeschaud / ct_icp

CT-ICP: Continuous-Time LiDAR Odometry
MIT License
766 stars 131 forks source link

How GTSAM is used? #55

Closed Cristian-wp closed 2 years ago

Cristian-wp commented 2 years ago

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.

pdell-kitware commented 2 years 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.

Cristian-wp commented 2 years ago

Perfectly clear!