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Merge branch 'before' into feature/LinearSolverCleanup

release/4.3a0
Frank Dellaert 2015-06-11 10:54:19 -07:00
parent 304cc61dec 05a120d94c
commit 75818c620d
1 changed files with 11 additions and 3 deletions
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14
timing/timeSFMBAL.cpp
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@ -59,14 +59,22 @@ int main(int argc, char* argv[]) {
Values initial = initialCamerasAndPointsEstimate(db); Values initial = initialCamerasAndPointsEstimate(db);
// Create Schur-complement ordering // Create Schur-complement ordering
#ifdef CCOLAMD
vector<Key> pointKeys; vector<Key> pointKeys;
for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j)); for (size_t j = 0; j < db.number_tracks(); j++) pointKeys.push_back(P(j));
Ordering schurOrdering = Ordering::colamdConstrainedFirst(graph, pointKeys, true); Ordering ordering = Ordering::colamdConstrainedFirst(graph, pointKeys, true);
#else
Ordering ordering;
for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j));
for (size_t i = 0; i < db.number_cameras(); i++) ordering.push_back(i);
#endif
// Optimize // Optimize
LevenbergMarquardtParams params; LevenbergMarquardtParams params;
params.setOrdering(schurOrdering); params.setOrdering(ordering);
params.setVerbosity("ERROR");
params.setVerbosityLM("TRYLAMBDA");
LevenbergMarquardtOptimizer lm(graph, initial, params); LevenbergMarquardtOptimizer lm(graph, initial, params);
Values actual = lm.optimize(); Values actual = lm.optimize();