From 3c3f6d2b7c42f9cb289bf53e891a456f1fdf1a37 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 31 Dec 2018 13:08:41 -0500 Subject: [PATCH] Switching to METIS ordering fixes out of memory error for large examples. --- examples/Pose2SLAMStressTest.cpp | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/examples/Pose2SLAMStressTest.cpp b/examples/Pose2SLAMStressTest.cpp index 030834894..0f306b7f4 100644 --- a/examples/Pose2SLAMStressTest.cpp +++ b/examples/Pose2SLAMStressTest.cpp @@ -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(); }