diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index f9c65c4cf..7945dd194 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -165,7 +165,6 @@ void LevenbergMarquardtOptimizer::iterate() { // Keep increasing lambda until we make make progress while (true) { - ++state_.totalNumberInnerIterations; if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "trying lambda = " << state_.lambda << endl; @@ -180,10 +179,12 @@ void LevenbergMarquardtOptimizer::iterate() { boost::posix_time::ptime currentTime = boost::posix_time::microsec_clock::universal_time(); - os << state_.iterations << "," << 1e-6 * (currentTime - state_.startTime).total_microseconds() << "," + os << state_.totalNumberInnerIterations << "," << 1e-6 * (currentTime - state_.startTime).total_microseconds() << "," << state_.error << "," << state_.lambda << endl; } + ++state_.totalNumberInnerIterations; + // Solve Damped Gaussian Factor Graph const VectorValues delta = solve(dampedSystem, state_.values, params_);