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Use same defaults as ceres

release/4.3a0
Frank Dellaert 2015-06-08 18:28:46 -04:00
parent c6269dfe76
commit 116c9d4398
1 changed files with 1 additions and 1 deletions
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gtsam/nonlinear/LevenbergMarquardtOptimizer.h
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@ -60,7 +60,7 @@ public:
double max_diagonal_; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
LevenbergMarquardtParams() :
lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), lambdaLowerBound(
lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound(
0.0), verbosityLM(SILENT), minModelFidelity(1e-3),
diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true),
min_diagonal_(1e-6), max_diagonal_(1e32) {