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Added parameter "RGBD/OptimizeMaxError" (default: 1 m) to reject loop closures after too large optimization errors

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matlabbe
2015-09-03 12:37:14 -04:00
parent 786bbaa2c2
commit 198899ba32
6 changed files with 194 additions and 57 deletions
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guilib/src/PreferencesDialog.cpp
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@@ -578,6 +578,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
_ui->graphOptimization_iterations->setObjectName(Parameters::kRGBDOptimizeIterations().c_str());
_ui->graphOptimization_covarianceIgnored->setObjectName(Parameters::kRGBDOptimizeVarianceIgnored().c_str());
_ui->graphOptimization_fromGraphEnd->setObjectName(Parameters::kRGBDOptimizeFromGraphEnd().c_str());
_ui->graphOptimization_maxError->setObjectName(Parameters::kRGBDOptimizeMaxError().c_str());
_ui->graphOptimization_stopEpsilon->setObjectName(Parameters::kRGBDOptimizeEpsilon().c_str());
_ui->graphOptimization_robust->setObjectName(Parameters::kRGBDOptimizeRobust().c_str());