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I am trying to optimize a pose-graph generated through visual odometry with loop closure constraints.

I wanted to know if there are any particular situations where optimizing the graph only once is beneficial as opposed to optimizing it everytime upon finding a loop closure. I am not sure what happens to the original constraints once an optimization step is performed (I am using g2o).

Whenever I try to optimize continuously, my pose graph actually deviates farther from the ground truth. Also there is no difference between the initial and the final loss.

I wanted to know how to incorporate new constraints after an optimization step is complete?

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