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Updated default Graph Optimization parameters (iteration+epsilon). Added "Variance from Inliers" parameter to DatabaseViewer

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matlabbe
2015-10-17 14:00:27 -04:00
parent b565226ee5
commit 303e64e8d8
4 changed files with 33 additions and 29 deletions
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4
corelib/include/rtabmap/core/Parameters.h
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@@ -310,10 +310,10 @@ class RTABMAP_EXP Parameters
// Graph optimization
RTABMAP_PARAM(RGBD, OptimizeStrategy, int, 0, "Graph optimization strategy: 0=TORO and 1=g2o.");
RTABMAP_PARAM(RGBD, OptimizeIterations, int, 10, "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, 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.");
RTABMAP_PARAM(RGBD, OptimizeRobust, bool, true, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
// Odometry