From 1910cef3d14b9678e92ea64644da43188572b9cd Mon Sep 17 00:00:00 2001 From: matlabbe Date: Sun, 27 Nov 2016 18:32:48 -0500 Subject: [PATCH] g2o/Optimizer changed default to 1 (Gauss Newton) --- corelib/include/rtabmap/core/Parameters.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/corelib/include/rtabmap/core/Parameters.h b/corelib/include/rtabmap/core/Parameters.h index 8d68ab41..b2ed74dc 100644 --- a/corelib/include/rtabmap/core/Parameters.h +++ b/corelib/include/rtabmap/core/Parameters.h @@ -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, 0, "0=Levenberg 1=GaussNewton"); + RTABMAP_PARAM(g2o, Optimizer, int, 1, "0=Levenberg 1=GaussNewton"); RTABMAP_PARAM(g2o, PixelVariance, double, 1.0, "Pixel variance used for bundle adjustment."); // Odometry