From d2cf8d323b253b7dc78c633b556b141bb54ae9c1 Mon Sep 17 00:00:00 2001
From: Vladyslav Usenko <vlad.usenko@tum.de>
Date: Fri, 28 Jun 2019 16:45:02 +0200
Subject: [PATCH] small change

---
 include/basalt/optimization/poses_optimize.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/basalt/optimization/poses_optimize.h b/include/basalt/optimization/poses_optimize.h
index 5276720..53ba09f 100644
--- a/include/basalt/optimization/poses_optimize.h
+++ b/include/basalt/optimization/poses_optimize.h
@@ -60,7 +60,7 @@ class PosesOptimization {
       typename Eigen::vector<AprilgridCornersData>::const_iterator;
 
  public:
-  PosesOptimization() : lambda(1e-12), min_lambda(1e-12), max_lambda(10) {}
+  PosesOptimization() : lambda(1e-6), min_lambda(1e-12), max_lambda(10) {}
 
   bool initializeIntrinsics(
       size_t cam_id, const Eigen::vector<Eigen::Vector2d> &corners,