From eb82e76e673e2775b8d57acb9debf371dc9520bf Mon Sep 17 00:00:00 2001
From: Arnau Marzabal Gatell <amarzabal@iri.upc.edu>
Date: Wed, 2 Aug 2023 12:07:53 +0200
Subject: [PATCH] update solver params

---
 yaml/solver.yaml | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/yaml/solver.yaml b/yaml/solver.yaml
index f5c2f30..1a2d03e 100644
--- a/yaml/solver.yaml
+++ b/yaml/solver.yaml
@@ -1,11 +1,13 @@
 minimizer: "LEVENBERG_MARQUARDT"
 interrupt_on_problem_change: false
-min_num_iterations: 4
-max_num_iterations: 20
-function_tolerance: 1e-7
-gradient_tolerance: 1e-9
+min_num_iterations: 5
+max_num_iterations: 500
+function_tolerance: 1e-10
+gradient_tolerance: 1e-10
 use_nonmonotonic_steps: false
-period: 0.1                     # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
-n_threads: 2
+period: 1                     # note: this must be smaller (i.e. faster) than the KF period in processor_tracker_landmark_apriltag.yaml
+n_threads: 8
 compute_cov: false
-verbose: 0
\ No newline at end of file
+cov_enum: 1 # compute all marginals
+cov_period: 1
+verbose: 1
\ No newline at end of file
-- 
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