From 6ed82459ba8abe3f860455b4b97e7ffbbc378b66 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Thu, 11 Jun 2015 23:11:35 -0700
Subject: [PATCH] Set params to be like ceres

---
 timing/timeSFMBAL.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/timing/timeSFMBAL.cpp b/timing/timeSFMBAL.cpp
index 568c3a756..154a72dc9 100644
--- a/timing/timeSFMBAL.cpp
+++ b/timing/timeSFMBAL.cpp
@@ -71,10 +71,14 @@ int main(int argc, char* argv[]) {
 #endif
 
   // Optimize
+  // Set parameters to be similar to ceres
   LevenbergMarquardtParams params;
   params.setOrdering(ordering);
   params.setVerbosity("ERROR");
   params.setVerbosityLM("TRYLAMBDA");
+  params.setDiagonalDamping(true);
+  params.setlambdaInitial(1e-4);
+  params.setlambdaFactor(2.0);
   LevenbergMarquardtOptimizer lm(graph, initial, params);
   Values actual = lm.optimize();