Fix runtime error for 3D pose graph vis, add back CG maxiter

brentyi · Aug 5, 2024 · abcf3e1 · abcf3e1
1 parent 2749541
commit abcf3e1
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/examples/pose_graph_g2o.py b/examples/pose_graph_g2o.py
@@ -57,7 +57,7 @@ def main(
     # Visualize 3D poses
     elif isinstance(g2o.pose_vars[0], jaxls.SE3Var):
         ax = plt.axes(projection="3d")
-        ax.set_box_aspect(1.0)
+        ax.set_box_aspect((1.0, 1.0, 1.0))  # type: ignore
         ax.plot3D(  # type: ignore
             *(initial_vals.get_stacked_value(jaxls.SE3Var).translation().T),
             c="r",

diff --git a/src/jaxls/_solvers.py b/src/jaxls/_solvers.py
@@ -115,7 +115,7 @@ def ATA_function(x: jax.Array):
             b=ATb,
             x0=initial_x,
             # https://en.wikipedia.org/wiki/Conjugate_gradient_method#Convergence_properties
-            # maxiter=len(initial_x),
+            maxiter=len(initial_x),
             tol=cast(
                 float,
                 jnp.maximum(self.tolerance, self.inexact_step_eta / (iterations + 1)),