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matlabbe
2026-06-05 20:57:42 -07:00
parent 9515bbda0c
commit 1ec535473f
3 changed files with 14 additions and 4 deletions
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corelib/test/test_optimizer.cpp
+2 -2
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@@ -1427,8 +1427,8 @@ TEST_P(LandmarkCovarianceTest, LandmarkCovarianceAffectsConvergence)
{
const bool isG2O = (backend == Optimizer::kTypeG2O);
landmarkDistMax = isG2O ? 0.15f : 0.05f; // g2o has no bearing-purity advantage
poseDistMax = g2o6DoF ? 0.15f : 0.06f;
poseAngMaxDeg = g2o6DoF ? 1.0f : 0.35f;
poseDistMax = isG2O ? 0.20f : 0.06f;
poseAngMaxDeg = isG2O ? 1.0f : 0.35f;
}
else if(noisy)
{