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Set params to be like ceres

release/4.3a0
Frank Dellaert 2015-06-11 23:11:35 -07:00
parent f89ffdc81c
commit 6ed82459ba
1 changed files with 4 additions and 0 deletions
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4
timing/timeSFMBAL.cpp
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@ -71,10 +71,14 @@ int main(int argc, char* argv[]) {
#endif #endif
// Optimize // Optimize
// Set parameters to be similar to ceres
LevenbergMarquardtParams params; LevenbergMarquardtParams params;
params.setOrdering(ordering); params.setOrdering(ordering);
params.setVerbosity("ERROR"); params.setVerbosity("ERROR");
params.setVerbosityLM("TRYLAMBDA"); params.setVerbosityLM("TRYLAMBDA");
params.setDiagonalDamping(true);
params.setlambdaInitial(1e-4);
params.setlambdaFactor(2.0);
LevenbergMarquardtOptimizer lm(graph, initial, params); LevenbergMarquardtOptimizer lm(graph, initial, params);
Values actual = lm.optimize(); Values actual = lm.optimize();