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Added parameter "g2o/PixelVariance" (default 1)

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matlabbe
2016-04-06 15:24:36 -04:00
parent 000a2727ef
commit d2ebdea96d
10 changed files with 100 additions and 9 deletions
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corelib/include/rtabmap/core/OptimizerG2O.h
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@@ -77,6 +77,7 @@ public:
private:
int solver_;
int optimizer_;
double pixelVariance_;
};
} /* namespace rtabmap */

1
corelib/include/rtabmap/core/Parameters.h
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@@ -346,6 +346,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod");
RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
RTABMAP_PARAM(g2o, PixelVariance, double, 1.0, "Pixel variance used for SBA.");
// Odometry
RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F)");