diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp index 98fa3d249..568c3a756 100644 --- a/timing/timeSFMBAL.cpp +++ b/timing/timeSFMBAL.cpp @@ -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 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();