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removed unused parameters. cleaned up hard-coded parameters

release/4.3a0
Luca 2014-03-17 14:12:04 -04:00
parent e42e36e004
commit 3ee404a5a6
2 changed files with 8 additions and 12 deletions
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8
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -97,8 +97,6 @@ void LevenbergMarquardtParams::print(const std::string& str) const {
std::cout << " lambdaFactor: " << lambdaFactor << "\n";
std::cout << " lambdaUpperBound: " << lambdaUpperBound << "\n";
std::cout << " lambdaLowerBound: " << lambdaLowerBound << "\n";
std::cout << " disableInnerIterations: " << disableInnerIterations
<< "\n";
std::cout << " minModelFidelity: " << minModelFidelity << "\n";
std::cout << " diagonalDamping: " << diagonalDamping << "\n";
std::cout << " verbosityLM: "
@ -141,10 +139,6 @@ void LevenbergMarquardtOptimizer::decreaseLambda(double stepQuality) {
GaussianFactorGraph LevenbergMarquardtOptimizer::buildDampedSystem(
const GaussianFactorGraph& linear) {
//Set two parameters as Ceres, will move out later
static const double min_diagonal_ = 1e-6;
static const double max_diagonal_ = 1e32;
gttic(damp);
if (params_.verbosityLM >= LevenbergMarquardtParams::DAMPED)
cout << "building damped system with lambda " << state_.lambda << endl;
@ -154,7 +148,7 @@ GaussianFactorGraph 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), min_diagonal_), max_diagonal_);
v(aa) = std::min(std::max(v(aa), params_.min_diagonal_), params_.max_diagonal_);
v(aa) = sqrt(v(aa));
}
}

12
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
View File

@ -51,17 +51,19 @@ public:
double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5)
double lambdaLowerBound; ///< The minimum lambda used in LM (default: 0)
VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity
bool disableInnerIterations; ///< If enabled inner iterations on the linearized system are performed
double minModelFidelity; ///< Lower bound for the modelFidelity to accept the result of an LM iteration
std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda]
bool diagonalDamping; ///< if true, use diagonal of Hessian
bool reuse_diagonal_; //an additional option in Ceres for diagonalDamping (related to efficiency)
bool useFixedLambdaFactor_; // if true applies constant increase (or decrease) to lambda according to lambdaFactor
bool reuse_diagonal_; ///< an additional option in Ceres for diagonalDamping (related to efficiency)
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)
LevenbergMarquardtParams() :
lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), lambdaLowerBound(
0.0), verbosityLM(SILENT), disableInnerIterations(false), minModelFidelity(
1e-3), diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true) {
0.0), verbosityLM(SILENT), minModelFidelity(1e-3),
diagonalDamping(false), reuse_diagonal_(false), useFixedLambdaFactor_(true),
min_diagonal_(1e-6), max_diagonal_(1e32) {
}
virtual ~LevenbergMarquardtParams() {
}