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

[cuge1995]

[gisbi-kim]

thanks for using our project.

1. PGO uses only keyframes (e.g., equidistant) to mitigate heavy optimization burdens while odometry publishes every all (e.g., 10Hz) motion estimations
2. 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.