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Switching to METIS ordering fixes out of memory error for large examples.

release/4.3a0
Frank Dellaert 2018-12-31 13:08:41 -05:00
parent 6a58e88631
commit 3c3f6d2b7c
1 changed files with 3 additions and 8 deletions
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11
examples/Pose2SLAMStressTest.cpp
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@ -69,15 +69,10 @@ void testGtsam(int numberNodes) {
}
LevenbergMarquardtParams params;
params.verbosity = NonlinearOptimizerParams::ERROR;
// params.setLinearSolverType("MULTIFRONTAL_QR");
params.setVerbosity("ERROR");
params.setOrderingType("METIS");
params.setLinearSolverType("MULTIFRONTAL_CHOLESKY");
LevenbergMarquardtOptimizer optimizer(graph, initial, params);
// GaussNewtonParams params_gn;
// params_gn.setVerbosity("ERROR");
// params_gn.setMaxIterations(20);
// params_gn.setLinearSolverType("MULTIFRONTAL_QR");
// GaussNewtonOptimizer optimizer(graph, initial, params_gn );
auto result = optimizer.optimize();
}