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strasdat / ScaViSLAM

This is a general and scalable framework for visual SLAM. It employs "Double Window Optimization" (DWO).
GNU Lesser General Public License v3.0
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Is reinitializePoses in prepareForOptimization necessary? #42

Open JzHuai0108 opened 9 years ago

JzHuai0108 commented 9 years ago

reinitializePoses reinitializes poses that are not in the old double window but are in the new double window. Since old poses tend to be more reliable, do we really need to reinitialize these poses entering the double window?

JzHuai0108 commented 9 years ago

Based on my tests with New college dataset, the results are almost identical whether reinitializePoses is commented or not.