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Updating g2o default max iterations (#1790)

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Stereo outdoor demo with g2o ( epsilon=0 and optimizer=0) requires at least 25 iterations to converge correctly.
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matlabbe
2026-10-10 12:31:45 -07:00
committed by GitHub
parent aa95581cd2
commit 8d93f807c8
1 changed files with 1 additions and 1 deletions
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corelib/include/rtabmap/core/Parameters.h
+1 -1
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@@ -456,7 +456,7 @@ class RTABMAP_CORE_EXPORT Parameters
#else #else
#ifdef RTABMAP_G2O #ifdef RTABMAP_G2O
RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres."); 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."); RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
#else #else
#ifdef RTABMAP_CERES #ifdef RTABMAP_CERES