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Optimize only once per submap in 2D. (#22) 

The setting was unintentionally set to optimize twice per submap which
harms parallelism.
master
Wolfgang Hess 2016-09-08 14:36:33 +02:00 committed by GitHub
parent ea0f93aa9a
commit 54a7faf294
1 changed files with 1 additions and 1 deletions
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2
configuration_files/sparse_pose_graph.lua
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@ -13,7 +13,7 @@
-- limitations under the License. -- limitations under the License.
SPARSE_POSE_GRAPH = { SPARSE_POSE_GRAPH = {
optimize_every_n_scans = 45, optimize_every_n_scans = 90,
also_match_to_new_submaps = true, also_match_to_new_submaps = true,
constraint_builder = { constraint_builder = {
sampling_ratio = 0.3, sampling_ratio = 0.3,