Keyframe selection about dsol HOT 2 CLOSED

Just to quickly explain what I meant in the paper: keyframe creation is time-consuming because it needs to run PBA. DSO likes to create many keyframes and remove some during marginalization (it allows marginalizing more than one keyframes). Whether that's good or not depends on the rest of the implementation. DSO limits the max number of points to 2000, so maybe it's ok for it to keep creating keyframes. In my implementation, I do not put a limit on the number of points, so I want to avoid creating too many keyframes. Therefore, if you have a dso fork, then this strategy may not be for you. Also, you can easily set some parameters in DSO to control how frequently a keyframe gets added.

That being said, here is the code section.

from dsol.

Ah I see, thanks for explaining!

from dsol.