Hardcode ordering and add verbosity
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				|  | @ -59,14 +59,22 @@ int main(int argc, char* argv[]) { | |||
| 
 | ||||
|   Values initial = initialCamerasAndPointsEstimate(db); | ||||
| 
 | ||||
|   // Create Schur-complement ordering
 | ||||
| // Create Schur-complement ordering
 | ||||
| #ifdef CCOLAMD | ||||
|   vector<Key> pointKeys; | ||||
|   for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); | ||||
|   Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); | ||||
|   Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); | ||||
| #else | ||||
|   Ordering ordering; | ||||
|   for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j)); | ||||
|   for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(i); | ||||
| #endif | ||||
| 
 | ||||
|   // Optimize
 | ||||
|   LevenbergMarquardtParams params; | ||||
|   params.setOrdering(schurOrdering); | ||||
|   params.setOrdering(ordering); | ||||
|   params.setVerbosity("ERROR"); | ||||
|   params.setVerbosityLM("TRYLAMBDA"); | ||||
|   LevenbergMarquardtOptimizer lm(graph, initial, params); | ||||
|   Values actual = lm.optimize(); | ||||
| 
 | ||||
|  |  | |||
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