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updat example

release/4.3a0
Varun Agrawal 2024-10-15 23:43:56 -04:00
parent 94a95b69cb
commit d2ca1ef285
1 changed files with 3 additions and 4 deletions
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7
examples/SFMExample_SmartFactorPCG.cpp
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@ -94,11 +94,10 @@ int main(int argc, char* argv[]) {
parameters.maxIterations = 500; parameters.maxIterations = 500;
PCGSolverParameters::shared_ptr pcg = PCGSolverParameters::shared_ptr pcg =
std::make_shared<PCGSolverParameters>(); std::make_shared<PCGSolverParameters>();
pcg->preconditioner_ = pcg->preconditioner = std::make_shared<BlockJacobiPreconditionerParameters>();
std::make_shared<BlockJacobiPreconditionerParameters>();
// Following is crucial: // Following is crucial:
pcg->setEpsilon_abs(1e-10); pcg->epsilon_abs = 1e-10;
pcg->setEpsilon_rel(1e-10); pcg->epsilon_rel = 1e-10;
parameters.iterativeParams = pcg; parameters.iterativeParams = pcg;
LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters); LevenbergMarquardtOptimizer optimizer(graph, initialEstimate, parameters);