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Added dogleg mode switch in SolverComparer

release/4.3a0
Richard Roberts 2014-02-22 17:13:32 -05:00
parent 5c86ad7e49
commit 2fd9401558
1 changed files with 5 additions and 0 deletions
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5
examples/SolverComparer.cpp
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@ -95,6 +95,7 @@ int lastStep;
int nThreads;
int relinSkip;
bool incremental;
bool dogleg;
bool batch;
bool compare;
bool perturb;
@ -126,6 +127,7 @@ int main(int argc, char *argv[]) {
("threads", po::value<int>(&nThreads)->default_value(-1), "Number of threads, or -1 to use all processors")
("relinSkip", po::value<int>(&relinSkip)->default_value(10), "Fluid relinearization check every arg steps")
("incremental", "Run in incremental mode using ISAM2 (default)")
("dogleg", "When in incremental mode, solve with Dogleg instead of Gauss-Newton in iSAM2")
("batch", "Run in batch mode, requires an initialization from --read-solution")
("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
("perturb", po::value<double>(&perturbationNoise), "Perturb a solution file with the specified noise")
@ -141,6 +143,7 @@ int main(int argc, char *argv[]) {
stats = (vm.count("stats") > 0);
const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats);
incremental = (vm.count("incremental") > 0 || modesSpecified == 0);
dogleg = (vm.count("dogleg") > 0);
if(compare) {
const vector<string>& compareFiles = vm["compare"].as<vector<string> >();
if(compareFiles.size() != 2) {
@ -233,6 +236,8 @@ int main(int argc, char *argv[]) {
void runIncremental()
{
ISAM2Params params;
if(dogleg)
params.optimizationParams = ISAM2DoglegParams();
params.relinearizeSkip = relinSkip;
params.enablePartialRelinearizationCheck = true;
ISAM2 isam2(params);