12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed naming convention

release/4.3a0
dellaert 2015-06-17 09:23:24 -07:00
parent d71e66ea48
commit 1269785c05
2 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -105,8 +105,8 @@ void LevenbergMarquardtParams::print(const std::string& str) const {
std::cout << " lambdaLowerBound: " << lambdaLowerBound << "\n";
std::cout << " minModelFidelity: " << minModelFidelity << "\n";
std::cout << " diagonalDamping: " << diagonalDamping << "\n";
std::cout << " min_diagonal: " << min_diagonal << "\n";
std::cout << " max_diagonal: " << max_diagonal << "\n";
std::cout << " minDiagonal: " << minDiagonal << "\n";
std::cout << " maxDiagonal: " << maxDiagonal << "\n";
std::cout << " verbosityLM: "
<< verbosityLMTranslator(verbosityLM) << "\n";
std::cout.flush();
@ -156,8 +156,8 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::buildDampedSystem(
state_.hessianDiagonal = linear.hessianDiagonal();
BOOST_FOREACH(Vector& v, state_.hessianDiagonal | map_values) {
for (int aa = 0; aa < v.size(); aa++) {
v(aa) = std::min(std::max(v(aa), params_.min_diagonal),
params_.max_diagonal);
v(aa) = std::min(std::max(v(aa), params_.minDiagonal),
params_.maxDiagonal);
v(aa) = sqrt(v(aa));
}
}

8
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
View File

@ -55,8 +55,8 @@ public:
std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda]
bool diagonalDamping; ///< if true, use diagonal of Hessian
bool useFixedLambdaFactor; ///< if true applies constant increase (or decrease) to lambda according to lambdaFactor
double min_diagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)
double max_diagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
double minDiagonal; ///< when using diagonal damping saturates the minimum diagonal entries (default: 1e-6)
double maxDiagonal; ///< when using diagonal damping saturates the maximum diagonal entries (default: 1e32)
LevenbergMarquardtParams()
: lambdaInitial(1e-5),
@ -67,8 +67,8 @@ public:
minModelFidelity(1e-3),
diagonalDamping(false),
useFixedLambdaFactor(true),
min_diagonal(1e-6),
max_diagonal(1e32) {}
minDiagonal(1e-6),
maxDiagonal(1e32) {}
static LevenbergMarquardtParams CeresDefaults() {
LevenbergMarquardtParams p;