From 575e5b169390e64c84afce2e8382d7dd5de3919b Mon Sep 17 00:00:00 2001 From: Luca Carlone Date: Tue, 15 Oct 2013 19:16:35 +0000 Subject: [PATCH] Cosmetic corrections --- .../SmartProjectionFactorExample_kitti_nonbatch.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp b/gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp index a1f62e1a7..7f37979ae 100644 --- a/gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp +++ b/gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp @@ -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; }