setCoreKfs function possible issue

[inspirit]

hello, i've noticed that in function setCoreKfs after partial sorting we then use not only sorted frames but all of them: https://github.com/uzh-rpg/rpg_svo/blob/master/svo/src/frame_handler_mono.cpp#L324 shouldn't it be std::for_each(overlap_kfs_.begin(), overlap_kfs_.begin()+n, [&](pair<FramePtr,size_t>& i){ core_kfs_.insert(i.first); }); instead?

[cfo]

makes sense. it looks like this function is only used to select the frames for bundle adjustment. does this mean we are bundle adjusting all frames all the time?

[inspirit]

Exactly