12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/sfm/TranslationRecovery.h
View File

@ -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");
}