GTSAM’s Dogleg optimizer does not correct loop closing errors.

[borongyuan]

During recent testing, I found that if I use GTSAM's Dogleg optimizer, the loop closure can be detected normally, but the errors are not corrected. I don't see any position jump when closing a loop. Everything works fine when using Gauss Newton optimizer. It's not clear whether this is an issue with RTAB-Map or GTSAM. Just note it.