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?
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?
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 bestd::for_each(overlap_kfs_.begin(), overlap_kfs_.begin()+n, [&](pair<FramePtr,size_t>& i){ core_kfs_.insert(i.first); });
instead?