double OptimizationAlgorithmLevenberg::computeLambdaInit() const
{
if (_userLambdaInit->value() > 0)
return _userLambdaInit->value();
double maxDiagonal=0.;
for (size_t k = 0; k < _optimizer->indexMapping().size(); k++) {
OptimizableGraph::Vertex* v = _optimizer->indexMapping()[k];
assert(v);
int dim = v->dimension();
for (int j = 0; j < dim; ++j){
maxDiagonal = std::max(fabs(v->hessian(j,j)),maxDiagonal);
}
}
return _tau*maxDiagonal;
}
