search

tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure
GNU General Public License v3.0
669 stars 236 forks source link

needNewKFAfter not update #49

Open match08 opened 4 years ago

match08 commented 4 years ago

needNewKFAfter not update?, if not linearizeOperation must update, dso: if(needKF) needNewKFAfter=fh->shell->trackingRef->id;

NikolausDemmel commented 4 years ago

Yes, looks like the flag needNewKFAfter is not really used since it is not updated, but I can't easily tell what are the consequences. Have you analysed in which scenario this causes an issue?

@gaoxiang12 did some refactoring compared to DSO, so the flag might also be obsolete.