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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 nThreads;
int relinSkip; int relinSkip;
bool incremental; bool incremental;
bool dogleg;
bool batch; bool batch;
bool compare; bool compare;
bool perturb; 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") ("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") ("relinSkip", po::value<int>(&relinSkip)->default_value(10), "Fluid relinearization check every arg steps")
("incremental", "Run in incremental mode using ISAM2 (default)") ("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") ("batch", "Run in batch mode, requires an initialization from --read-solution")
("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files") ("compare", po::value<vector<string> >()->multitoken(), "Compare two solution files")
("perturb", po::value<double>(&perturbationNoise), "Perturb a solution file with the specified noise") ("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); stats = (vm.count("stats") > 0);
const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats); const int modesSpecified = int(batch) + int(compare) + int(perturb) + int(stats);
incremental = (vm.count("incremental") > 0 || modesSpecified == 0); incremental = (vm.count("incremental") > 0 || modesSpecified == 0);
dogleg = (vm.count("dogleg") > 0);
if(compare) { if(compare) {
const vector<string>& compareFiles = vm["compare"].as<vector<string> >(); const vector<string>& compareFiles = vm["compare"].as<vector<string> >();
if(compareFiles.size() != 2) { if(compareFiles.size() != 2) {
@ -233,6 +236,8 @@ int main(int argc, char *argv[]) {
void runIncremental() void runIncremental()
{ {
ISAM2Params params; ISAM2Params params;
if(dogleg)
params.optimizationParams = ISAM2DoglegParams();
params.relinearizeSkip = relinSkip; params.relinearizeSkip = relinSkip;
params.enablePartialRelinearizationCheck = true; params.enablePartialRelinearizationCheck = true;
ISAM2 isam2(params); ISAM2 isam2(params);