From c4f73877b440447cfebcabd97a50eed46e442cbd Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Thu, 11 Jul 2019 11:37:05 +0200
Subject: [PATCH] small fixes

---
 include/basalt/optimization/poses_optimize.h  | 2 +-
 include/basalt/optimization/spline_optimize.h | 2 +-
 src/calibration/cam_calib.cpp                 | 2 +-
 src/calibration/cam_imu_calib.cpp             | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/basalt/optimization/poses_optimize.h b/include/basalt/optimization/poses_optimize.h
index e56b363..4bd47ca 100644
--- a/include/basalt/optimization/poses_optimize.h
+++ b/include/basalt/optimization/poses_optimize.h
@@ -61,7 +61,7 @@ class PosesOptimization {
 
  public:
   PosesOptimization()
-      : lambda(1e-6), min_lambda(1e-12), max_lambda(10), lambda_vee(2) {}
+      : lambda(1e-6), min_lambda(1e-12), max_lambda(100), lambda_vee(2) {}
 
   bool initializeIntrinsics(
       size_t cam_id, const Eigen::vector<Eigen::Vector2d> &corners,
diff --git a/include/basalt/optimization/spline_optimize.h b/include/basalt/optimization/spline_optimize.h
index 6d4614e..3318b60 100644
--- a/include/basalt/optimization/spline_optimize.h
+++ b/include/basalt/optimization/spline_optimize.h
@@ -92,7 +92,7 @@ class SplineOptimization {
         mocap_initialized(false),
         lambda(1e-12),
         min_lambda(1e-18),
-        max_lambda(10),
+        max_lambda(100),
         lambda_vee(2),
         spline(dt_ns),
         dt_ns(dt_ns) {
diff --git a/src/calibration/cam_calib.cpp b/src/calibration/cam_calib.cpp
index 6e0beb7..7164b22 100644
--- a/src/calibration/cam_calib.cpp
+++ b/src/calibration/cam_calib.cpp
@@ -71,7 +71,7 @@ CamCalib::CamCalib(const std::string &dataset_path,
       show_ids("ui.show_ids", false, false, true),
       huber_thresh("ui.huber_thresh", 4.0, 0.1, 10.0),
       opt_intr("ui.opt_intr", true, false, true),
-      opt_until_convg("ui.opt_until_convg", false, false, true),
+      opt_until_convg("ui.opt_until_converge", false, false, true),
       stop_thresh("ui.stop_thresh", 1e-8, 1e-10, 0.01, true) {
   if (show_gui) initGui();
 
diff --git a/src/calibration/cam_imu_calib.cpp b/src/calibration/cam_imu_calib.cpp
index a4b11e6..8141478 100644
--- a/src/calibration/cam_imu_calib.cpp
+++ b/src/calibration/cam_imu_calib.cpp
@@ -79,7 +79,7 @@ CamImuCalib::CamImuCalib(const std::string &dataset_path,
       opt_imu_scale("ui.opt_imu_scale", false, false, true),
       opt_mocap("ui.opt_mocap", false, false, true),
       huber_thresh("ui.huber_thresh", 4.0, 0.1, 10.0),
-      opt_until_convg("ui.opt_until_convg", false, false, true),
+      opt_until_convg("ui.opt_until_converge", false, false, true),
       stop_thresh("ui.stop_thresh", 1e-8, 1e-10, 0.01, true) {
   if (show_gui) initGui();
 }