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Cosmetic corrections

release/4.3a0
Luca Carlone 2013-10-15 19:16:35 +00:00
parent 16af82dc86
commit 575e5b1693
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp
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@ -277,7 +277,7 @@ void optimizeGraphISAM2(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr g
// main
int main(int argc, char** argv) {
unsigned int maxNumLandmarks = 10000; //389007; //100000000; // 309393 // (loop_closure_merged) //37106 //(reduced kitti);
unsigned int maxNumLandmarks = 389007; // 10000; //100000000; // 309393 // (loop_closure_merged) //37106 //(reduced kitti);
unsigned int maxNumPoses = 1e+6;
// Set to true to use SmartProjectionFactor. Otherwise GenericProjectionFactor will be used
@ -382,7 +382,7 @@ int main(int argc, char** argv) {
}
if (debug) cout << "Adding triangulated landmarks, graph size after: " << graphProjection.size() << endl;
if (1||debug) fprintf(stderr,"%d: %d > %d, %d > %d\n", count, numLandmarks, maxNumLandmarks, numPoses, maxNumPoses);
if (debug) fprintf(stderr,"%d: %d > %d, %d > %d\n", count, numLandmarks, maxNumLandmarks, numPoses, maxNumPoses);
if (useSmartProjectionFactor) {
if (useLM)
@ -404,7 +404,7 @@ int main(int argc, char** argv) {
if (debug) fprintf(stderr,"%d %d\n", count, maxNumLandmarks);
if (debug) cout << "CurrentLandmark " << currentLandmark << " Landmark " << l << std::endl;
if (1||debug) fprintf(stderr,"%d: %d, %d > %d, %d > %d\n", count, currentLandmark != l, numLandmarks, maxNumLandmarks, numPoses, maxNumPoses);
if (debug) fprintf(stderr,"%d: %d, %d > %d, %d > %d\n", count, currentLandmark != l, numLandmarks, maxNumLandmarks, numPoses, maxNumPoses);
if(breakingCondition){ // reached desired number of landmarks/poses
break;
}