From 12b19b6ca927fea263ad8c052531998ef66b1990 Mon Sep 17 00:00:00 2001
From: Luca Carlone <lucacar85@gmail.com>
Date: Wed, 16 Oct 2013 23:17:29 +0000
Subject: [PATCH] added input arguments for BAL testing

---
 .../examples/SmartProjectionFactorTesting.cpp | 49 +++++++++++++++----
 1 file changed, 39 insertions(+), 10 deletions(-)

diff --git a/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp b/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
index 92e4157ac..f11726f98 100644
--- a/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
@@ -164,7 +164,8 @@ void optimizeGraphLM(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr grap
       gttoc_(SmartProjectionFactorExample_kitti);
       tictoc_finishedIteration_();
 
-      std::cout << "Total number of LM iterations: " << optimizer.state().iterations << std::endl;
+      std::cout << "Number of outer LM iterations: " << optimizer.state().iterations << std::endl;
+      std::cout << "Total number of LM iterations (inner and outer): " << optimizer.getInnerIterations() << std::endl;
     //}
 
     //*ordering = params.ordering;
@@ -214,19 +215,12 @@ int main(int argc, char** argv) {
   double linThreshold = -1.0; // negative is disabled
   double rankTolerance = 1.0;
 
-  // bool incrementalFlag = false;
-  // int optSkip = 200; // we optimize the graph every optSkip poses
-
-  std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl;
-  std::cout << "PARAM LM: " << useLM << std::endl;
-  std::cout << "PARAM linThreshold (negative is disabled): " << linThreshold << std::endl;
-  if(addNoise)
-    std::cout << "PARAM Noise: " << addNoise << std::endl;
-
   // Get home directory and dataset
   string HOME = getenv("HOME");
   string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1031-110968-pre.txt";
   //  string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1723-156502-pre.txt";
+  //  string datasetFile = HOME + "/data/SfM/BAL/Trafalgar-Square/problem-257-65132-pre.txt";
+
   //  string datasetFile = HOME + "/data/SfM/BAL/Final/problem-961-187103-pre.txt";
   //  string datasetFile = HOME + "/data/SfM/BAL/Final/problem-1936-649673-pre.txt";
 
@@ -234,6 +228,41 @@ int main(int argc, char** argv) {
   //  string datasetFile = HOME + "/data/SfM/BAL/Final/problem-4585-1324582-pre.txt";
   //  13682    4456117     28987644   problem-13682-4456117-pre.txt.bz2
 
+  std::cout << "argc: " << argc << std::endl;
+
+  if(argc>1){ // if we have any input arguments
+    string useSmartArgument = argv[1];
+    string useTriangulationArgument = argv[2];
+    string datasetFile = argv[3];
+    if(useSmartArgument.compare("smart")==0){
+      useSmartProjectionFactor=true;
+    } else{
+      if(useSmartArgument.compare("standard")==0){
+        useSmartProjectionFactor=false;
+      }else{
+        cout << "Selected wrong option for input argument - useSmartProjectionFactor" << endl;
+        exit(1);
+      }
+    }
+    if(useTriangulationArgument.compare("do")==0){
+      doTriangulation=true;
+    } else{
+      if(useTriangulationArgument.compare("dont")==0){
+        doTriangulation=false;
+      }else{
+        cout << "Selected wrong option for input argument - doTriangulation - not important for SmartFactors" << endl;
+      }
+    }
+  }
+  std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl;
+  std::cout << "PARAM doTriangulation: " << doTriangulation << std::endl;
+  // std::cout << "PARAM LM: " << useLM << std::endl;
+  std::cout << "PARAM linThreshold (negative is disabled): " << linThreshold << std::endl;
+  if(addNoise)
+    std::cout << "PARAM Noise: " << addNoise << std::endl;
+
+  std::cout << "datasetFile: " << datasetFile << std::endl;
+
   static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2));
   NonlinearFactorGraph graphSmart, graphProjection;