Yipu Zhao

I was trying to do double-window optimization with ICE-BA, since it is the most efficient & incremental solver so far. However, according to my quick glance of the code, it...

When running the stereo_camera_node in ros, I can't help notice that it takes 2 cores (~200% CPU usage). Based on stereo_camera_node.cpp, it seems to only grabbing and publishing data from...