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2026-10-10 20:08:08 +00:00
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api/latest/Parameters_8h_source.html
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@@ -483,7 +483,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="preprocessor">#else</span></div> <div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span><span class="preprocessor">#ifdef RTABMAP_G2O</span></div> <div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span><span class="preprocessor">#ifdef RTABMAP_G2O</span></div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Strategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">&quot;Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.&quot;</span>);</div> <div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Strategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">&quot;Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.&quot;</span>);</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Iterations, <span class="keywordtype">int</span>, 20, <span class="stringliteral">&quot;Optimization iterations.&quot;</span>);</div> <div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Iterations, <span class="keywordtype">int</span>, 30, <span class="stringliteral">&quot;Optimization iterations.&quot;</span>);</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Epsilon, <span class="keywordtype">double</span>, 0.0, <span class="stringliteral">&quot;Stop optimizing when the error improvement is less than this value.&quot;</span>);</div> <div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Epsilon, <span class="keywordtype">double</span>, 0.0, <span class="stringliteral">&quot;Stop optimizing when the error improvement is less than this value.&quot;</span>);</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="preprocessor">#else</span></div> <div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span><span class="preprocessor">#ifdef RTABMAP_CERES</span></div> <div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span><span class="preprocessor">#ifdef RTABMAP_CERES</span></div>
api/latest/parameters.html
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@@ -701,7 +701,9 @@ Optimizer</h1>
<code>3</code> with <code>defined(RTABMAP_CERES)</code><br /> <code>3</code> with <code>defined(RTABMAP_CERES)</code><br />
<code>0</code> otherwise </td><td class="markdownTableBodyNone">Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres. </td></tr> <code>0</code> otherwise </td><td class="markdownTableBodyNone">Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres. </td></tr>
<tr class="markdownTableRowEven"> <tr class="markdownTableRowEven">
<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerIterations"></a><a class="el" href="classrtabmap_1_1Parameters.html#a8be61aae74f02931c8c224d98629dfc1">Optimizer/Iterations</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>20</code> with <code>defined(RTABMAP_GTSAM) or defined(RTABMAP_G2O) or defined(RTABMAP_CERES)</code><br /> <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerIterations"></a><a class="el" href="classrtabmap_1_1Parameters.html#a8be61aae74f02931c8c224d98629dfc1">Optimizer/Iterations</a> </td><td class="markdownTableBodyNone">int </td><td class="markdownTableBodyNone"><code>20</code> with <code>defined(RTABMAP_GTSAM)</code><br />
<code>30</code> with <code>defined(RTABMAP_G2O)</code><br />
<code>20</code> with <code>defined(RTABMAP_CERES)</code><br />
<code>100</code> otherwise </td><td class="markdownTableBodyNone">Optimization iterations. </td></tr> <code>100</code> otherwise </td><td class="markdownTableBodyNone">Optimization iterations. </td></tr>
<tr class="markdownTableRowOdd"> <tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerEpsilon"></a><a class="el" href="classrtabmap_1_1Parameters.html#a0da495637cf28437df451e3a9befe09c">Optimizer/Epsilon</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>0.00001</code> with <code>defined(RTABMAP_GTSAM)</code><br /> <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerEpsilon"></a><a class="el" href="classrtabmap_1_1Parameters.html#a0da495637cf28437df451e3a9befe09c">Optimizer/Epsilon</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>0.00001</code> with <code>defined(RTABMAP_GTSAM)</code><br />
index.html
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@@ -5,7 +5,7 @@
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