Merge pull request #586 from borglab/feature/lm-iteration-hook-impl

User-provided hook within the internal loop of non-linear optimizers

gtsam/nonlinear/NonlinearConjugateGradientOptimizer.h

@@ -200,6 +200,10 @@ boost::tuple<V, int> nonlinearConjugateGradient(const S &system,
     currentValues = system.advance(prevValues, alpha, direction);
     currentError = system.error(currentValues);
 
+    // User hook:
+    if (params.iterationHook)
+      params.iterationHook(iteration, prevError, currentError);
+
     // Maybe show output
     if (params.verbosity >= NonlinearOptimizerParams::ERROR)
       std::cout << "iteration: " << iteration << ", currentError: " << currentError << std::endl;

gtsam/nonlinear/NonlinearOptimizer.cpp

@@ -97,7 +97,11 @@ void NonlinearOptimizer::defaultOptimize() {
 
     // Update newError for either printouts or conditional-end checks:
     newError = error();
-    
+
+    // User hook:
+    if (params.iterationHook)
+      params.iterationHook(iterations(), currentError, newError);
+
     // Maybe show output
     if (params.verbosity >= NonlinearOptimizerParams::VALUES)
       values().print("newValues");

gtsam/nonlinear/NonlinearOptimizer.h

@@ -81,7 +81,7 @@ protected:
 
 public:
   /** A shared pointer to this class */
-  typedef boost::shared_ptr<const NonlinearOptimizer> shared_ptr;
+  using shared_ptr = boost::shared_ptr<const NonlinearOptimizer>;
 
   /// @name Standard interface
   /// @{

gtsam/nonlinear/NonlinearOptimizerParams.h

@@ -38,21 +38,12 @@ public:
     SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR
   };
 
-  size_t maxIterations; ///< The maximum iterations to stop iterating (default 100)
+  size_t maxIterations = 100; ///< The maximum iterations to stop iterating (default 100)
-  double relativeErrorTol; ///< The maximum relative error decrease to stop iterating (default 1e-5)
+  double relativeErrorTol = 1e-5; ///< The maximum relative error decrease to stop iterating (default 1e-5)
-  double absoluteErrorTol; ///< The maximum absolute error decrease to stop iterating (default 1e-5)
+  double absoluteErrorTol = 1e-5; ///< The maximum absolute error decrease to stop iterating (default 1e-5)
-  double errorTol; ///< The maximum total error to stop iterating (default 0.0)
+  double errorTol = 0.0; ///< The maximum total error to stop iterating (default 0.0)
-  Verbosity verbosity; ///< The printing verbosity during optimization (default SILENT)
+  Verbosity verbosity = SILENT; ///< The printing verbosity during optimization (default SILENT)
-  Ordering::OrderingType orderingType; ///< The method of ordering use during variable elimination (default COLAMD)
+  Ordering::OrderingType orderingType = Ordering::COLAMD; ///< The method of ordering use during variable elimination (default COLAMD)
-
-  NonlinearOptimizerParams() :
-      maxIterations(100), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol(
-          0.0), verbosity(SILENT), orderingType(Ordering::COLAMD),
-          linearSolverType(MULTIFRONTAL_CHOLESKY) {}
-
-  virtual ~NonlinearOptimizerParams() {
-  }
-  virtual void print(const std::string& str = "") const;
 
   size_t getMaxIterations() const { return maxIterations; }
   double getRelativeErrorTol() const { return relativeErrorTol; }
@@ -71,6 +62,37 @@ public:
   static Verbosity verbosityTranslator(const std::string &s) ;
   static std::string verbosityTranslator(Verbosity value) ;
 
+  /** Type for an optional user-provided hook to be called after each
+   * internal optimizer iteration. See iterationHook below. */
+  using IterationHook = std::function<
+    void(size_t /*iteration*/, double/*errorBefore*/, double/*errorAfter*/)>;
+
+  /** Optional user-provided iteration hook to be called after each
+   * optimization iteration (Default: none).
+   * Note that `IterationHook` is defined as a std::function<> with this
+   * signature:
+   * \code
+   *  void(size_t iteration, double errorBefore, double errorAfter)
+   * \endcode
+   * which allows binding by means of a reference to a regular function:
+   * \code
+   *  void foo(size_t iteration, double errorBefore, double errorAfter);
+   *  // ...
+   *  lmOpts.iterationHook = &foo;
+   * \endcode
+   * or to a C++11 lambda (preferred if you need to capture additional
+   * context variables, such that the optimizer object itself, the factor graph,
+   * etc.):
+   * \code
+   *  lmOpts.iterationHook = [&](size_t iter, double oldError, double newError)
+   *  {
+   *    // ...
+   *  };
+   * \endcode
+   * or to the result of a properly-formed `std::bind` call.
+   */
+  IterationHook iterationHook;
+
   /** See NonlinearOptimizerParams::linearSolverType */
   enum LinearSolverType {
     MULTIFRONTAL_CHOLESKY,
@@ -81,10 +103,16 @@ public:
     CHOLMOD, /* Experimental Flag */
   };
 
-  LinearSolverType linearSolverType; ///< The type of linear solver to use in the nonlinear optimizer
+  LinearSolverType linearSolverType = MULTIFRONTAL_CHOLESKY; ///< The type of linear solver to use in the nonlinear optimizer
   boost::optional<Ordering> ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty)
   IterativeOptimizationParameters::shared_ptr iterativeParams; ///< The container for iterativeOptimization parameters. used in CG Solvers.
 
+  NonlinearOptimizerParams() = default;
+  virtual ~NonlinearOptimizerParams() {
+  }
+
+  virtual void print(const std::string& str = "") const;
+
   inline bool isMultifrontal() const {
     return (linearSolverType == MULTIFRONTAL_CHOLESKY)
         || (linearSolverType == MULTIFRONTAL_QR);

tests/testNonlinearOptimizer.cpp

@@ -566,6 +566,58 @@ TEST( NonlinearOptimizer, logfile )
 //  EXPECT(actual.str()==expected.str());
 }
 
+/* ************************************************************************* */
+TEST( NonlinearOptimizer, iterationHook_LM )
+{
+  NonlinearFactorGraph fg(example::createReallyNonlinearFactorGraph());
+
+  Point2 x0(3,3);
+  Values c0;
+  c0.insert(X(1), x0);
+
+  // Levenberg-Marquardt
+  LevenbergMarquardtParams lmParams;
+  size_t lastIterCalled = 0;
+  lmParams.iterationHook = [&](size_t iteration, double oldError, double newError)
+  {
+    // Tests:
+    lastIterCalled = iteration;
+    EXPECT(newError<oldError);
+    
+    // Example of evolution printout:
+    //std::cout << "iter: " << iteration << " error: " << oldError << " => " << newError <<"\n";
+  };
+  LevenbergMarquardtOptimizer(fg, c0, lmParams).optimize();
+  
+  EXPECT(lastIterCalled>5);
+}
+/* ************************************************************************* */
+TEST( NonlinearOptimizer, iterationHook_CG )
+{
+  NonlinearFactorGraph fg(example::createReallyNonlinearFactorGraph());
+
+  Point2 x0(3,3);
+  Values c0;
+  c0.insert(X(1), x0);
+
+  // Levenberg-Marquardt
+  NonlinearConjugateGradientOptimizer::Parameters cgParams;
+  size_t lastIterCalled = 0;
+  cgParams.iterationHook = [&](size_t iteration, double oldError, double newError)
+  {
+    // Tests:
+    lastIterCalled = iteration;
+    EXPECT(newError<oldError);
+    
+    // Example of evolution printout:
+    //std::cout << "iter: " << iteration << " error: " << oldError << " => " << newError <<"\n";
+  };
+  NonlinearConjugateGradientOptimizer(fg, c0, cgParams).optimize();
+  
+  EXPECT(lastIterCalled>5);
+}
+
+
 /* ************************************************************************* */
 //// Minimal traits example
 struct MyType : public Vector3 {