olibd

Why is the translation/rotation error recalculated at every 10th frame?

1

I've been going through the code and I've been having a hard time understanding why the translation/rotation error recalculated at every 10th frame. at line 191: https://github.com/Huangying-Zhan/kitti-odom-eval/blob/4b850b0815dcd28edef893ca3422125b04a02397/kitti_odometry.py#L191 Why is first_frame...