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Merge pull request #1085 from yunzc/feature/gnc_base_params 

correctly parse optimizer params for base optimizer in gnc
release/4.3a0
Frank Dellaert 2022-02-18 22:03:50 -05:00 committed by GitHub
parent 6275f6c121 31e1a713fc
commit 686e16aaae
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2 changed files with 28 additions and 2 deletions
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6
gtsam/nonlinear/GncOptimizer.h
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@ -184,7 +184,8 @@ class GTSAM_EXPORT GncOptimizer {
/// Compute optimal solution using graduated non-convexity.
Values optimize() {
NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer(graph_initial, state_);
BaseOptimizer baseOptimizer(
graph_initial, state_, params_.baseOptimizerParams);
Values result = baseOptimizer.optimize();
double mu = initializeMu();
double prev_cost = graph_initial.error(result);
@ -228,7 +229,8 @@ class GTSAM_EXPORT GncOptimizer {
// variable/values update
NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer_iter(graph_iter, state_);
BaseOptimizer baseOptimizer_iter(
graph_iter, state_, params_.baseOptimizerParams);
result = baseOptimizer_iter.optimize();
// stopping condition

24
tests/testGncOptimizer.cpp
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@ -98,6 +98,30 @@ TEST(GncOptimizer, gncConstructor) {
CHECK(gnc.equals(gnc2));
}
/* ************************************************************************* */
TEST(GncOptimizer, solverParameterParsing) {
// has to have Gaussian noise models !
auto fg = example::createReallyNonlinearFactorGraph(); // just a unary factor
// on a 2D point
Point2 p0(3, 3);
Values initial;
initial.insert(X(1), p0);
LevenbergMarquardtParams lmParams;
lmParams.setMaxIterations(0); // forces not to perform optimization
GncParams<LevenbergMarquardtParams> gncParams(lmParams);
auto gnc = GncOptimizer<GncParams<LevenbergMarquardtParams>>(fg, initial,
gncParams);
Values result = gnc.optimize();
// check that LM did not perform optimization and result is the same as the initial guess
DOUBLES_EQUAL(fg.error(initial), fg.error(result), tol);
// also check the params:
DOUBLES_EQUAL(0.0, gncParams.baseOptimizerParams.maxIterations, tol);
}
/* ************************************************************************* */
TEST(GncOptimizer, gncConstructorWithRobustGraphAsInput) {
auto fg = example::sharedNonRobustFactorGraphWithOutliers();