From e140538a48b34375201f08a7750e1dab6cb5bfaa Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Thu, 11 Jun 2015 13:22:38 -0700 Subject: [PATCH] Use diagonal damping by default --- gtsam/nonlinear/LevenbergMarquardtOptimizer.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h index b3cc3746d..4e4479cd6 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h @@ -62,7 +62,7 @@ public: LevenbergMarquardtParams() : lambdaInitial(1e-4), lambdaFactor(2.0), lambdaUpperBound(1e5), lambdaLowerBound( 0.0), verbosityLM(SILENT), minModelFidelity(1e-3), - diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true), + diagonalDamping(true), reuse_diagonal_(false), useFixedLambdaFactor_(true), min_diagonal_(1e-6), max_diagonal_(1e32) { } virtual ~LevenbergMarquardtParams() {