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fix bugs

release/4.3a0
Yong-Dian Jian 2010-11-24 02:16:35 +00:00
parent 3ad9c9494e
commit 06c319f42c
4 changed files with 23 additions and 23 deletions
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2
examples/vSLAMexample/vSFMexample.cpp
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@ -146,7 +146,7 @@ int main(int argc, char* argv[]) {
// Optimize the graph // Optimize the graph
cout << "*******************************************************" << endl; cout << "*******************************************************" << endl;
NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newVerbosity_(Optimizer::Parameters::DAMPED); NonlinearOptimizationParameters::sharedThis params = NonlinearOptimizationParameters::newVerbosity(Optimizer::Parameters::DAMPED);
Optimizer::shared_values result = Optimizer::optimizeGN(graph, initialEstimates, params); Optimizer::shared_values result = Optimizer::optimizeGN(graph, initialEstimates, params);
// Print final results // Print final results

21
gtsam/nonlinear/NonlinearOptimizationParameters.h
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@ -65,19 +65,24 @@ namespace gtsam {
verbosity_(parameters.verbosity_), lambdaMode_(parameters.lambdaMode_){} verbosity_(parameters.verbosity_), lambdaMode_(parameters.lambdaMode_){}
static sharedThis newVerbosity_(verbosityLevel verbosity) { /* a copy of old instance except some parameters */
sharedThis newLambda_(double lambda) const {
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>(*this)) ;
ptr->lambda_ = lambda ;
return ptr ;
}
// static
/* new instance with default parameters except some partially assigned parameters */
static sharedThis newVerbosity(verbosityLevel verbosity) {
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ; sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ;
ptr->verbosity_ = verbosity ; ptr->verbosity_ = verbosity ;
return ptr ; return ptr ;
} }
static sharedThis newLambda_(double lambda) { static sharedThis newMaxIterations(int maxIterations) {
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ;
ptr->lambda_ = lambda ;
return ptr ;
}
static sharedThis newMaxIterations_(int maxIterations) {
sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ; sharedThis ptr (boost::make_shared<NonlinearOptimizationParameters>()) ;
ptr->maxIterations_ = maxIterations ; ptr->maxIterations_ = maxIterations ;
return ptr ; return ptr ;

1
gtsam/nonlinear/NonlinearOptimizer-inl.h
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@ -185,7 +185,6 @@ namespace gtsam {
shared_values newValues(new C(values_->expmap(delta, *ordering_))); // TODO: updateValues shared_values newValues(new C(values_->expmap(delta, *ordering_))); // TODO: updateValues
// create new optimization state with more adventurous lambda // create new optimization state with more adventurous lambda
//NonlinearOptimizer next(newValuesSolverLambda_(newValues, newSolver, lambda / factor));
double error = graph_->error(*newValues); double error = graph_->error(*newValues);
if (verbosity >= Parameters::TRYLAMBDA) cout << "next error = " << error << endl; if (verbosity >= Parameters::TRYLAMBDA) cout << "next error = " << error << endl;

22
gtsam/nonlinear/NonlinearOptimizer.h
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@ -121,16 +121,14 @@ namespace gtsam {
error_(error), ordering_(ordering), solver_(solver), parameters_(parameters), dimensions_(dimensions) {} error_(error), ordering_(ordering), solver_(solver), parameters_(parameters), dimensions_(dimensions) {}
/** Create a new NonlinearOptimizer with a different lambda */ /** Create a new NonlinearOptimizer with a different lambda */
// This newLambda_(double newLambda) const { This newValuesSolver_(shared_values newValues, shared_solver newSolver) const {
// return NonlinearOptimizer(graph_, values_, error_, ordering_, solver_, newLambda, dimensions_); } return NonlinearOptimizer(graph_, newValues, graph_->error(*newValues), ordering_, newSolver, parameters_, dimensions_); }
//
// This newValuesSolver_(shared_values newValues, shared_solver newSolver) const {
// return NonlinearOptimizer(graph_, newValues, graph_->error(*newValues), ordering_, newSolver, lambda_, dimensions_); }
//
// This newValuesSolverLambda_(shared_values newValues, shared_solver newSolver, double newLambda) const {
// return NonlinearOptimizer(graph_, newValues, graph_->error(*newValues), ordering_, newSolver, newLambda, dimensions_); }
/** Create a new NonlinearOptimizer with a different lambda */ This newValuesErrorLambda_(shared_values newValues, double newError, double newLambda) const {
return NonlinearOptimizer(graph_, newValues, newError, ordering_, solver_, parameters_->newLambda_(newLambda), dimensions_); }
/*
This newLambda_(double newLambda) const { This newLambda_(double newLambda) const {
return NonlinearOptimizer(graph_, values_, error_, ordering_, solver_, parameters_->newLambda_(newLambda), dimensions_); } return NonlinearOptimizer(graph_, values_, error_, ordering_, solver_, parameters_->newLambda_(newLambda), dimensions_); }
@ -152,7 +150,7 @@ namespace gtsam {
This newMaxIterations_(int maxIterations) const { This newMaxIterations_(int maxIterations) const {
return NonlinearOptimizer(graph_, values_, error_, ordering_, solver_, parameters_->newMaxIterations_(maxIterations), dimensions_); } return NonlinearOptimizer(graph_, values_, error_, ordering_, solver_, parameters_->newMaxIterations_(maxIterations), dimensions_); }
*/
public: public:
/** /**
@ -279,9 +277,7 @@ namespace gtsam {
shared_values values, shared_values values,
Parameters::verbosityLevel verbosity) Parameters::verbosityLevel verbosity)
{ {
Parameters def ; return optimizeLM(graph, values, Parameters::newVerbosity(verbosity));
shared_parameters parameters = def.newVerbosity_(verbosity);
return optimizeLM(graph, values, parameters);
} }
/** /**
* Static interface to LM optimization (no shared_ptr arguments) - see above * Static interface to LM optimization (no shared_ptr arguments) - see above