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Added Optimizer/GravitySigma parameter (with GTSAM support).

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matlabbe
2019-03-31 15:51:50 -04:00
parent 35933cafba
commit fc9c762516
17 changed files with 565 additions and 40 deletions
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3
app/android/jni/RTABMapApp.cpp
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@@ -108,16 +108,19 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
}
else if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("1") == 0) // g2o
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"10":"0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0"));
}
else // TORO
{
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), graphOptimization_?"100":"0"));
parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0"));
}
}