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 -- GitLab