i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

g2o/Optimizer changed default to 1 (Gauss Newton)

Browse Source
This commit is contained in:
matlabbe
2016-11-27 18:32:48 -05:00
parent 121446d648
commit 1910cef3d1
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/include/rtabmap/core/Parameters.h
+1 -1
View File
@@ -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(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, 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."); RTABMAP_PARAM(g2o, PixelVariance, double, 1.0, "Pixel variance used for bundle adjustment.");
// Odometry // Odometry