Remove unnecessary sorting of keyframe indices

vectr-ucla / direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

MIT License

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Remove unnecessary sorting of keyframe indices #19

Closed juliangaal closed 11 months ago

juliangaal commented 11 months ago

Reorders some code to save a sorting step for the keyframe indices

kennyjchen commented 11 months ago

Thanks!

juliangaal commented 10 months ago

I just realized...the previous keyframes don't have to be sorted at all? They are sorted before being assigned in iteration n-1. Want me to create another PR?