I would like to give the user the possibility of tuning the odometry regularization, basically controlling how much they trust their wheel odometry.
How did I do it
Just add a flag use_adaptive_odometry_regularization. If false, the regularization will fall back to the fixed_regularization value, which can be settled to zero if the user does not believe in the wheel odometry at all.
Motivation
I would like to give the user the possibility of tuning the odometry regularization, basically controlling how much they trust their wheel odometry.
How did I do it
Just add a flag
use_adaptive_odometry_regularization.Iffalse, the regularization will fall back to thefixed_regularizationvalue, which can be settled to zero if the user does not believe in the wheel odometry at all.