diff --git a/tests/testGncOptimizer.cpp b/tests/testGncOptimizer.cpp index 630b0c92b..383544c6e 100644 --- a/tests/testGncOptimizer.cpp +++ b/tests/testGncOptimizer.cpp @@ -48,7 +48,7 @@ public: GM /*Geman McClure*/, TLS /*Truncated least squares*/ }; - // using BaseOptimizer = GaussNewtonOptimizer; // BaseOptimizerParameters::OptimizerType; + using BaseOptimizer = GaussNewtonOptimizer; // BaseOptimizerParameters::OptimizerType; GncParams(const BaseOptimizerParameters& baseOptimizerParams): baseOptimizerParams(baseOptimizerParams), @@ -165,7 +165,7 @@ public: // variable/values update NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights); GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_); - result = baseOptimizer.optimize(); + result = baseOptimizer_iter.optimize(); // stopping condition if( checkMuConvergence(mu) ) { @@ -492,7 +492,7 @@ TEST(GncOptimizer, optimize) { // .. but graduated nonconvexity ensures both robustness and convergence in the face of nonconvexity GncParams gncParams(gnParams); - gncParams.setVerbosityGNC(GncParams::VerbosityGNC::VALUES); + // gncParams.setVerbosityGNC(GncParams::VerbosityGNC::SUMMARY); auto gnc = GncOptimizer>(fg, initial, gncParams); Values gnc_result = gnc.optimize(); CHECK(assert_equal(Point2(0.0,0.0), gnc_result.at(X(1)), 1e-3));