change GN threshold to 1e-3, use GN in LocalBA

jingpang · May 28, 2017 · e32dcb9 · e32dcb9
1 parent 4e9e05d
commit e32dcb9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp b/Thirdparty/g2o/g2o/core/optimization_algorithm_gauss_newton.cpp
@@ -94,7 +94,7 @@ namespace g2o {
     _optimizer->computeActiveErrors();
     double afterChi2 = _optimizer->activeRobustChi2();
 
-    if(fabs(preChi2 - afterChi2)<1e-6)
+    if(fabs(preChi2 - afterChi2)<1e-3/*1e-6*/)
       return Terminate;
     // END ADD
 

diff --git a/src/Optimizer.cc b/src/Optimizer.cc
@@ -131,8 +131,8 @@ void Optimizer::LocalBAPRVIDP(KeyFrame *pCurKF, const std::list<KeyFrame*> &lLoc
 
     g2o::BlockSolverX * solver_ptr = new g2o::BlockSolverX(linearSolver);
 
-    //g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(solver_ptr);
-    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
+    g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(solver_ptr);
+    //g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
     optimizer.setAlgorithm(solver);
 //optimizer.setVerbose(true);
     if(pbStopFlag)