Does the optimizer work in ORB_SLAM3_ODOM?

[drscopus]

Hi @hellovuong, we tested your ORB_SLAM3_ODOM on the openloris dataset. we compared the results Kf_body_XXX.txt with corresponding odom_interp.txt files. Here are the comparative results from evo_ape. The first one is from market1-1, the second is from office1-1_7-package/office1-5. Both of them shows that the saved body KeyFrame poses are almost same as the input interpolated odom. So does the optimizer work in ORB_SLAM3_ODOM? If not, how to get correct results in which the optimization process works?