updat example
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				|  | @ -94,11 +94,10 @@ int main(int argc, char* argv[]) { | |||
|   parameters.maxIterations = 500; | ||||
|   PCGSolverParameters::shared_ptr pcg = | ||||
|       std::make_shared<PCGSolverParameters>(); | ||||
|   pcg->preconditioner_ = | ||||
|       std::make_shared<BlockJacobiPreconditionerParameters>(); | ||||
|   pcg->preconditioner = std::make_shared<BlockJacobiPreconditionerParameters>(); | ||||
|   // Following is crucial:
 | ||||
|   pcg->setEpsilon_abs(1e-10); | ||||
|   pcg->setEpsilon_rel(1e-10); | ||||
|   pcg->epsilon_abs = 1e-10; | ||||
|   pcg->epsilon_rel = 1e-10; | ||||
|   parameters.iterativeParams = pcg; | ||||
| 
 | ||||
|   LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); | ||||
|  |  | |||
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