mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-05 17:47:49 +08:00
df52523a0c
* OptimizerG2O: track BA outliers per observation Track rejected BA projections by word and pose, preserving a landmark's optimized estimate whenever at least one observation remains active. Add a deterministic g2o regression and focused Linux CTest coverage. * Changed some error logs to warning --------- Co-authored-by: happyman <[email protected]> Co-authored-by: matlabbe <[email protected]>