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Updated default value for parameter RGBD/OptimizeEpsilon=0.0001

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matlabbe
2015-08-25 19:39:32 -04:00
parent 12bd8a1720
commit 1b35b8cb99
1 changed files with 1 additions and 1 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -308,7 +308,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(RGBD, OptimizeIterations, int, 100, "Optimization iterations."); RTABMAP_PARAM(RGBD, OptimizeIterations, int, 100, "Optimization iterations.");
RTABMAP_PARAM(RGBD, OptimizeSlam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses."); RTABMAP_PARAM(RGBD, OptimizeSlam2D, bool, false, "If optimization is done only on x,y and theta (3DoF). Otherwise, it is done on full 6DoF poses.");
RTABMAP_PARAM(RGBD, OptimizeVarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links."); RTABMAP_PARAM(RGBD, OptimizeVarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
RTABMAP_PARAM(RGBD, OptimizeEpsilon, double, 0.001, "Stop optimizing when the error improvement is less than this value."); RTABMAP_PARAM(RGBD, OptimizeEpsilon, double, 0.0001, "Stop optimizing when the error improvement is less than this value.");
// Odometry // Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow"); RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Bag-of-words 1=Optical Flow");