From 3ea9ff012005b1205b8c20f5ea2b676d4054ce76 Mon Sep 17 00:00:00 2001
From: akrishnan86 <akrishnan86@gatech.edu>
Date: Tue, 23 Jun 2020 07:58:38 -0700
Subject: [PATCH] optional initialization for LMParams

---
 gtsam/sfm/TranslationRecovery.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h
index 5eea251cf..634825d29 100644
--- a/gtsam/sfm/TranslationRecovery.h
+++ b/gtsam/sfm/TranslationRecovery.h
@@ -61,8 +61,9 @@ class TranslationRecovery {
    * @param relativeTranslations the relative translations, in world coordinate
    * frames, indexed in a map by a pair of Pose keys.
    */
-  TranslationRecovery(const TranslationEdges& relativeTranslations)
-      : relativeTranslations_(relativeTranslations) {
+  TranslationRecovery(const TranslationEdges& relativeTranslations,
+                      const LevenbergMarquardtParams& lmParams = LevenbergMarquardtParams())
+      : relativeTranslations_(relativeTranslations), params_(lmParams) {
     params_.setVerbosityLM("Summary");
   }