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optional initialization for LMParams

release/4.3a0
akrishnan86 2020-06-23 07:58:38 -07:00
parent 98b8d6b4f3
commit 3ea9ff0120
1 changed files with 3 additions and 2 deletions
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5
gtsam/sfm/TranslationRecovery.h
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@ -61,8 +61,9 @@ class TranslationRecovery {
* @param relativeTranslations the relative translations, in world coordinate * @param relativeTranslations the relative translations, in world coordinate
* frames, indexed in a map by a pair of Pose keys. * frames, indexed in a map by a pair of Pose keys.
*/ */
TranslationRecovery(const TranslationEdges& relativeTranslations) TranslationRecovery(const TranslationEdges& relativeTranslations,
: relativeTranslations_(relativeTranslations) { const LevenbergMarquardtParams& lmParams = LevenbergMarquardtParams())
: relativeTranslations_(relativeTranslations), params_(lmParams) {
params_.setVerbosityLM("Summary"); params_.setVerbosityLM("Summary");
} }