Ensure poseOpti always has the latest best pose estimate

tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure

GNU General Public License v3.0

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Closed NikolausDemmel closed 5 years ago

NikolausDemmel commented 5 years ago

update optimized pose after sliding window optimization if it has not been set by PGO yet
ensure final PGO after odometry is done

fixes #19

Credit to @xingweiqu

NikolausDemmel commented 5 years ago

@gaoxiang12, can we merge this?