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

The setting was unintentionally set to optimize twice per submap which harms parallelism.
2016-09-08 14:36:33 +02:00 · 2016-09-08 14:36:33 +02:00 · 54a7faf294
parent ea0f93aa9a
commit 54a7faf294
1 changed files with 1 additions and 1 deletions
--- 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,