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

The setting was unintentionally set to optimize twice per submap which harms parallelism.
cartographer-project · Sep 8, 2016 · 54a7faf · 54a7faf
1 parent ea0f93a
commit 54a7faf
Showing 1 changed file with 1 addition and 1 deletion.
diff --git 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,