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Merge branch 'master' of github.com:introlab/rtabmap_ros into ros2

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matlabbe
2026-08-06 14:59:13 -07:00
parent 2eef2b3231 38b45dca16
commit 48d1ed1204
6 changed files with 23 additions and 5 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2 -2
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@@ -3742,10 +3742,10 @@ void CoreWrapper::globalBundleAdjustmentCallback(
UTimer timer;
int optimizer = (int)Optimizer::kTypeG2O; // g2o
int iterations = Parameters::defaultOptimizerIterations();
float pixelVariance = Parameters::defaultg2oPixelVariance();
float pixelVariance = Parameters::defaultOptimizerPixelVariance();
bool rematchFeatures = true;
Parameters::parse(parameters_, Parameters::kOptimizerIterations(), iterations);
Parameters::parse(parameters_, Parameters::kg2oPixelVariance(), pixelVariance);
Parameters::parse(parameters_, Parameters::kOptimizerPixelVariance(), pixelVariance);
if(req->type == 1.0f)
{
optimizer = (int)Optimizer::kTypeCVSBA;