about keyframe

[redheli]

Hi, I really like the keyframe video and would love to contribute to the codebase.
However, I have a couple of questions:

Is the keyframe concept considered a factor in the graph, similar to how unary factors, prior factors, and between factors are used in a GTSAM pose graph?

Thank you for your guidance!

[koide3]

Thanks. The keyframe concept is built on a factor graph, but it does not use traditional pose factors (i.e., gtsam::PriorFactor<Pose3> nor gtsam::BetweenFactor<Pose3>). Instead, it uses factors that directly compute multi-frame point cloud registration errors, resulting in better robustness and accuracy.