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correctly check relative difference between mu valus at consecutive iterations

release/4.3a0
jingnanshi 2020-12-07 16:35:46 -05:00
parent 9caa0d14cf
commit 428d17a4bc
1 changed files with 9 additions and 6 deletions
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15
gtsam/nonlinear/GncOptimizer.h
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@ -203,9 +203,11 @@ public:
double mu = initializeMu(); double mu = initializeMu();
double mu_prev = mu; double mu_prev = mu;
// handle the degenerate case for TLS cost that corresponds to small // handle the degenerate case that corresponds to small
// maximum residual error at initialization // maximum residual errors at initialization
if (mu <= 0 && params_.lossType == GncParameters::TLS) { // For GM: if residual error is small, mu -> 0
// For TLS: if residual error is small, mu -> -1
if (mu <= 0) {
if (params_.verbosityGNC >= GncParameters::VerbosityGNC::SUMMARY) { if (params_.verbosityGNC >= GncParameters::VerbosityGNC::SUMMARY) {
std::cout << "GNC Optimizer stopped because maximum residual at " std::cout << "GNC Optimizer stopped because maximum residual at "
"initialization is small." << std::endl; "initialization is small." << std::endl;
@ -230,6 +232,10 @@ public:
GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_); GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_);
result = baseOptimizer_iter.optimize(); result = baseOptimizer_iter.optimize();
// update mu
mu_prev = mu;
mu = updateMu(mu);
// stopping condition // stopping condition
if (checkMuConvergence(mu, mu_prev)) { if (checkMuConvergence(mu, mu_prev)) {
// display info // display info
@ -240,9 +246,6 @@ public:
} }
break; break;
} }
// otherwise update mu
mu_prev = mu;
mu = updateMu(mu);
} }
return result; return result;
} }