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

added comments

release/4.3a0
Luca 2014-05-02 15:23:19 -04:00
parent f1fb2c09a4
commit c1650f72fd
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -275,10 +275,7 @@ void LevenbergMarquardtOptimizer::iterate() {
step_is_successful = modelFidelity > params_.minModelFidelity; step_is_successful = modelFidelity > params_.minModelFidelity;
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "modelFidelity: " << modelFidelity << endl; cout << "modelFidelity: " << modelFidelity << endl;
} } // else we consider the step non successful and we either increase lambda or stop if error change is small
//else {
// step_is_successful = true; // linearizedCostChange close to zero
//}
double minAbsoluteTolerance = params_.relativeErrorTol * state_.error; double minAbsoluteTolerance = params_.relativeErrorTol * state_.error;
// if the change is small we terminate // if the change is small we terminate