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Graph optimization: fixed stop error criterion for g2o and gtsam, previous optimized poses are now used as guess for the optimized graph

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matlabbe
2015-11-18 19:40:46 -05:00
parent 1e5bcfded8
commit 10d683a38e
6 changed files with 192 additions and 63 deletions
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corelib/include/rtabmap/core/Statistics.h
+2
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@@ -63,6 +63,8 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Loop, Visual_inliers,);
RTABMAP_STATS(Loop, Last_id,);
RTABMAP_STATS(Loop, Optimization_max_error, m);
RTABMAP_STATS(Loop, Optimization_error, );
RTABMAP_STATS(Loop, Optimization_iterations, );
RTABMAP_STATS(LocalLoop, Time_closures,);
RTABMAP_STATS(LocalLoop, Space_last_closure_id,);