updat example
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94a95b69cb
commit
d2ca1ef285
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@ -94,11 +94,10 @@ int main(int argc, char* argv[]) {
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parameters.maxIterations = 500;
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PCGSolverParameters::shared_ptr pcg =
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std::make_shared<PCGSolverParameters>();
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pcg->preconditioner_ =
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std::make_shared<BlockJacobiPreconditionerParameters>();
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pcg->preconditioner = std::make_shared<BlockJacobiPreconditionerParameters>();
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// Following is crucial:
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pcg->setEpsilon_abs(1e-10);
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pcg->setEpsilon_rel(1e-10);
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pcg->epsilon_abs = 1e-10;
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pcg->epsilon_rel = 1e-10;
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parameters.iterativeParams = pcg;
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LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters);
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