From e2adb91d919e94cc6849a1f379bafaaeac9ae4aa Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 29 Jan 2025 18:40:29 -0500 Subject: [PATCH] don't optimize each time --- examples/Hybrid_City10000.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/Hybrid_City10000.cpp b/examples/Hybrid_City10000.cpp index e7750f79a..8ba495940 100644 --- a/examples/Hybrid_City10000.cpp +++ b/examples/Hybrid_City10000.cpp @@ -44,7 +44,7 @@ using symbol_shorthand::M; using symbol_shorthand::X; // Testing params -const size_t max_loop_count = 3000; // 2000; // 200 //2000 //8000 +const size_t max_loop_count = 2000; // 2000; // 200 //2000 //8000 noiseModel::Diagonal::shared_ptr prior_noise_model = noiseModel::Diagonal::Sigmas( @@ -122,8 +122,8 @@ void SmootherUpdate(HybridSmoother& smoother, HybridNonlinearFactorGraph& graph, // std::cout << "index: " << index << std::endl; smoother.update(linearized, maxNrHypotheses); graph.resize(0); - HybridValues delta = smoother.hybridBayesNet().optimize(); - result->insert_or_assign(initial.retract(delta.continuous())); + // HybridValues delta = smoother.hybridBayesNet().optimize(); + // result->insert_or_assign(initial.retract(delta.continuous())); } /* ************************************************************************* */