12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

print optimization errors for now

release/4.3a0
cbeall3 2014-06-12 16:24:03 -04:00
parent 140577406a
commit 9f796565d0
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
View File

@ -108,9 +108,13 @@ int main(int argc, char** argv){
// QR is much slower than Cholesky, but numerically more stable // QR is much slower than Cholesky, but numerically more stable
graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose)); graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose));
LevenbergMarquardtParams params;
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
params.verbosity = NonlinearOptimizerParams::ERROR;
cout << "Optimizing" << endl; cout << "Optimizing" << endl;
//create Levenberg-Marquardt optimizer to optimize the factor graph //create Levenberg-Marquardt optimizer to optimize the factor graph
LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate); LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate, params);
Values result = optimizer.optimize(); Values result = optimizer.optimize();
cout << "Final result sample:" << endl; cout << "Final result sample:" << endl;