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minor adds

release/4.3a0
Luca Carlone 2013-10-16 02:50:57 +00:00
parent 6f6061c6c2
commit b95c1c14e4
1 changed files with 9 additions and 7 deletions
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16
gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
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@ -128,8 +128,8 @@ void optimizeGraphLM(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr grap
cout << "Number of variables: " << graphValues->size() << endl; cout << "Number of variables: " << graphValues->size() << endl;
std::cout << " OPTIMIZATION " << std::endl; std::cout << " OPTIMIZATION " << std::endl;
std::cout << "\n\n=================================================\n\n";
if (debug) { if (debug) {
std::cout << "\n\n=================================================\n\n";
graph.print("thegraph"); graph.print("thegraph");
} }
std::cout << "\n\n=================================================\n\n"; std::cout << "\n\n=================================================\n\n";
@ -163,6 +163,8 @@ void optimizeGraphLM(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr grap
result = optimizer.optimize(); result = optimizer.optimize();
gttoc_(SmartProjectionFactorExample_kitti); gttoc_(SmartProjectionFactorExample_kitti);
tictoc_finishedIteration_(); tictoc_finishedIteration_();
std::cout << "Total number of LM iterations: " << optimizer.state().iterations << std::endl;
//} //}
//*ordering = params.ordering; //*ordering = params.ordering;
@ -224,13 +226,13 @@ int main(int argc, char** argv) {
// Get home directory and dataset // Get home directory and dataset
string HOME = getenv("HOME"); string HOME = getenv("HOME");
string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1031-110968-pre.txt"; string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1031-110968-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1723-156502-pre.txt"; // string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1723-156502-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/final/problem-1936-649673-pre.txt"; // string datasetFile = HOME + "/data/SfM/BAL/Final/problem-961-187103-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Final/problem-1936-649673-pre.txt";
// 1936 649673 5213733 problem-1936-649673-pre.txt.bz2 // string datasetFile = HOME + "/data/SfM/BAL/Final/problem-3068-310854-pre.txt";
// 3068 310854 1653812 problem-3068-310854-pre.txt.bz2 // string datasetFile = HOME + "/data/SfM/BAL/Final/problem-4585-1324582-pre.txt";
// 4585 1324582 9125125 problem-4585-1324582-pre.txt.bz2 // 13682 4456117 28987644 problem-13682-4456117-pre.txt.bz2
// 13682 4456117 28987644 problem-13682-4456117-pre.txt.bz2
static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2)); static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2));
NonlinearFactorGraph graphSmart, graphProjection; NonlinearFactorGraph graphSmart, graphProjection;