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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
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6
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
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@ -108,9 +108,13 @@ int main(int argc, char** argv){
// QR is much slower than Cholesky, but numerically more stable
graph.push_back(NonlinearEquality<Pose3>(Symbol('x',1),first_pose));
LevenbergMarquardtParams params;
params.verbosityLM = LevenbergMarquardtParams::TRYLAMBDA;
params.verbosity = NonlinearOptimizerParams::ERROR;
cout << "Optimizing" << endl;
//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();
cout << "Final result sample:" << endl;