From 0be63753bc3ffe31563cbb1fd975a53d94470389 Mon Sep 17 00:00:00 2001 From: dellaert Date: Fri, 13 Feb 2015 17:17:11 +0100 Subject: [PATCH] Call Ordering::Create to make sure Metis is executed when asked (was a bug!) --- gtsam/nonlinear/DoglegOptimizer.cpp | 4 ++-- gtsam/nonlinear/GaussNewtonOptimizer.cpp | 7 +++---- gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp | 8 ++------ 3 files changed, 7 insertions(+), 12 deletions(-) diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp index e148bd65d..a91515e9c 100644 --- a/gtsam/nonlinear/DoglegOptimizer.cpp +++ b/gtsam/nonlinear/DoglegOptimizer.cpp @@ -95,8 +95,8 @@ void DoglegOptimizer::iterate(void) { /* ************************************************************************* */ DoglegParams DoglegOptimizer::ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const { - if(!params.ordering) - params.ordering = Ordering::colamd(graph); + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; } diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp index 7a115e1c4..e420567ec 100644 --- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp +++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp @@ -46,10 +46,9 @@ void GaussNewtonOptimizer::iterate() { /* ************************************************************************* */ GaussNewtonParams GaussNewtonOptimizer::ensureHasOrdering( - GaussNewtonParams params, const NonlinearFactorGraph& graph) const -{ - if(!params.ordering) - params.ordering = Ordering::colamd(graph); + GaussNewtonParams params, const NonlinearFactorGraph& graph) const { + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; } diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp index 1c781f173..ef1f1eff1 100644 --- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp +++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp @@ -344,12 +344,8 @@ void LevenbergMarquardtOptimizer::iterate() { /* ************************************************************************* */ LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering( LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const { - if (!params.ordering){ - if (params.orderingType == Ordering::METIS) - params.ordering = Ordering::metis(graph); - else - params.ordering = Ordering::colamd(graph); - } + if (!params.ordering) + params.ordering = Ordering::Create(params.orderingType, graph); return params; }