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DbViewer: fixed bug where null links were added when added links doen't have enough inliers. g2o/Optimizer: changed back to Levenberg as GaussNewton seems worst on Kinect multi-session mapping

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matlabbe
2016-12-01 11:59:49 -05:00
parent 40d0be5828
commit d0dddaf7cc
2 changed files with 65 additions and 46 deletions
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2
corelib/include/rtabmap/core/Parameters.h
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@@ -351,7 +351,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Optimizer, Robust, bool, false, uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod");
RTABMAP_PARAM(g2o, Optimizer, int, 1, "0=Levenberg 1=GaussNewton");
RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
RTABMAP_PARAM(g2o, PixelVariance, double, 1.0, "Pixel variance used for bundle adjustment.");
// Odometry