fixed map overlapping bug

patweatharva · May 9, 2024 · 1715f66 · 1715f66
1 parent 0686d83
commit 1715f66
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Showing 9 changed files with 3,746 additions and 3,218 deletions.
diff --git a/config/params.yaml b/config/params.yaml
@@ -1,11 +1,12 @@
 graphSLAM:
- ISAM2:
-    Use_ISAM2: true
+  saveGraph: false
+  ISAM2:
+    Use_ISAM2: false
     params:
       relinearizeThreshold: 0.1
       relinearizeSkip: 10
       factorization: "CHOLESKY"
- LevenbergMarquardt:
+  LevenbergMarquardt:
     params:
       initialLambda: 0.00001
       lambdaFactor: 5.0
@@ -15,4 +16,3 @@ graphSLAM:
       useDiagonalDamping: true
       diagonalDamping: 0.001
       useLevenbergMarquardt: true
-