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Why the odometry is faster than SC-PGO, and when the odometry finished, the SC-PGO doesn't work even the optimization not finished! #3

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cuge1995 opened this issue Aug 13, 2021 · 1 comment

cuge1995 commented Aug 13, 2021

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gisbi-kim commented Aug 17, 2021

thanks for using our project.

PGO uses only keyframes (e.g., equidistant) to mitigate heavy optimization burdens while odometry publishes every all (e.g., 10Hz) motion estimations
SC-PGO internally runs isam2 optimization so if you have many nodes and factors, the odometry and pgo seem not to be quite synchronized, but I expect the pgo would soon converge and finish if you wait a little time.

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