Hardcode ordering and add verbosity
parent
171793aad3
commit
05a120d94c
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@ -59,14 +59,22 @@ int main(int argc, char* argv[]) {
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Values initial = initialCamerasAndPointsEstimate(db);
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// Create Schur-complement ordering
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// Create Schur-complement ordering
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#ifdef CCOLAMD
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vector<Key> pointKeys;
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for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j));
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Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true);
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Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true);
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#else
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Ordering ordering;
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for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j));
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for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(i);
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#endif
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// Optimize
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LevenbergMarquardtParams params;
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params.setOrdering(schurOrdering);
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params.setOrdering(ordering);
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params.setVerbosity("ERROR");
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params.setVerbosityLM("TRYLAMBDA");
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LevenbergMarquardtOptimizer lm(graph, initial, params);
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Values actual = lm.optimize();
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