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Parameters: added RGBD/LoopCovLimited, refactored "detect more loop closures" in MainWindow/DBViewer/rtabmap

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matlabbe
2018-10-01 20:22:20 -04:00
parent 0059a4bc1b
commit b5dec56eaf
14 changed files with 468 additions and 319 deletions
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2
corelib/src/optimizer/OptimizerGTSAM.cpp
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@@ -344,7 +344,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
}
catch(gtsam::IndeterminantLinearSystemException & e)
{
UERROR("GTSAM exception caught: %s", e.what());
UWARN("GTSAM exception caught: %s", e.what());
delete optimizer;
return optimizedPoses;
}