12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Partially Revert "Update `logging_optimizer.gtsam_optimize` to use NonlinearOptimizerParams::iterationHook" 

This reverts commit 71aa20ff33.
release/4.3a0
Gerry Chen 2022-04-20 15:44:17 -04:00
parent 2a17bb1715
commit 61eef0639a
1 changed files with 8 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
python/gtsam/utils/logging_optimizer.py
View File

@ -36,7 +36,7 @@ def optimize(optimizer, check_convergence, hook):
def gtsam_optimize(optimizer, def gtsam_optimize(optimizer,
params, params,
hook): hook):
""" Given an optimizer and its params, iterate until convergence. """ Given an optimizer and params, iterate until convergence.
After each iteration, hook(optimizer) is called. After each iteration, hook(optimizer) is called.
After the function, use values and errors to get the result. After the function, use values and errors to get the result.
Arguments: Arguments:
@ -44,6 +44,10 @@ def gtsam_optimize(optimizer,
params {NonlinearOptimizarParams} -- Nonlinear optimizer parameters params {NonlinearOptimizarParams} -- Nonlinear optimizer parameters
hook -- hook function to record the error hook -- hook function to record the error
""" """
hook(optimizer, optimizer.error()) # call once at start (backwards compatibility) def check_convergence(optimizer, current_error, new_error):
params.iterationHook = lambda iteration, error_before, error_after: hook(optimizer, error_after) return (optimizer.iterations() >= params.getMaxIterations()) or (
return optimizer.optimize() gtsam.checkConvergence(params.getRelativeErrorTol(), params.getAbsoluteErrorTol(), params.getErrorTol(),
current_error, new_error)) or (
isinstance(optimizer, gtsam.LevenbergMarquardtOptimizer) and optimizer.lambda_() > params.getlambdaUpperBound())
optimize(optimizer, check_convergence, hook)
return optimizer.values()