From 8d93f807c84921ecd685cc073d378fef7a783b5f Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sat, 10 Oct 2026 12:31:45 -0700 Subject: [PATCH] Updating g2o default max iterations (#1790) Stereo outdoor demo with g2o ( epsilon=0 and optimizer=0) requires at least 25 iterations to converge correctly. --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index b93e9d75..8d076f71 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -456,7 +456,7 @@ class RTABMAP_CORE_EXPORT Parameters #else #ifdef RTABMAP_G2O RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres."); - RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations."); + RTABMAP_PARAM(Optimizer, Iterations, int, 30, "Optimization iterations."); RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value."); #else #ifdef RTABMAP_CERES