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Tango #57: Global optimization / Post-processing on pause

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matlabbe
2016-04-03 21:35:30 -04:00
parent 30e52b785a
commit 5d9522c901
15 changed files with 621 additions and 166 deletions
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corelib/src/OptimizerG2O.cpp
+1 -1
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@@ -752,7 +752,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
UASSERT(optimizer.verifyInformationMatrices());
UINFO("g2o optimizing begin (max iterations=%d, robustKernel=%d)", iterations(), robustKernel?1:0);
UINFO("g2o optimizing begin (max iterations=%d, epsilon=%f robustKernel=%d)", iterations(), this->epsilon(), robustKernel?1:0);
int it = 0;
UTimer timer;