From 8c46e1d0cf1812611cb5d7f55723988564dd428a Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Fri, 24 Jan 2014 17:48:30 -0500
Subject: [PATCH] restricted cout to suitable verbosity level

---
 gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index d83800cca..4493a0b16 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -167,7 +167,9 @@ void LevenbergMarquardtOptimizer::iterate() {
             cout << "Warning:  Levenberg-Marquardt giving up because cannot decrease error with maximum lambda" << endl;
           break;
         } else {
-          cout << "increasing lambda: old error (" << state_.error << ") new error (" << error << ")"  << endl;
+          if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
+            cout << "increasing lambda: old error (" << state_.error << ") new error (" << error << ")"  << endl;
+
           increaseLambda();
         }
       }