From 54a7faf294d75dad7a3630d16ad93e320ed204ba Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Thu, 8 Sep 2016 14:36:33 +0200
Subject: [PATCH] Optimize only once per submap in 2D. (#22)

The setting was unintentionally set to optimize twice per submap which
harms parallelism.
---
 configuration_files/sparse_pose_graph.lua | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/configuration_files/sparse_pose_graph.lua b/configuration_files/sparse_pose_graph.lua
index 835f98d..162ecc5 100644
--- a/configuration_files/sparse_pose_graph.lua
+++ b/configuration_files/sparse_pose_graph.lua
@@ -13,7 +13,7 @@
 -- limitations under the License.
 
 SPARSE_POSE_GRAPH = {
-  optimize_every_n_scans = 45,
+  optimize_every_n_scans = 90,
   also_match_to_new_submaps = true,
   constraint_builder = {
     sampling_ratio = 0.3,