Logging works, see testNonlinearOptimizer.cpp

gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp

@@ -24,6 +24,8 @@
 #include <boost/algorithm/string.hpp>
 #include <string>
 #include <cmath>
+#include <ctime>
+#include <fstream>
 
 using namespace std;
 
@@ -171,6 +173,14 @@ void LevenbergMarquardtOptimizer::iterate() {
   if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
     cout << "using lambda = " << state_.lambda << endl;
 
+  if (!params_.logFile.empty()) {
+    ofstream os(params_.logFile.c_str(), ios::app);
+    time_t rawtime;
+    time (&rawtime);
+    os << state_.iterations << "," << rawtime << "," << state_.error << "," << state_.lambda << endl;
+  }
+
+
   // Increment the iteration counter
   ++state_.iterations;
 }

gtsam/nonlinear/LevenbergMarquardtOptimizer.h

@@ -42,10 +42,17 @@ public:
     DAMPED
   };
 
+private:
+  VerbosityLM verbosityLMTranslator(const std::string &s) const;
+  std::string verbosityLMTranslator(VerbosityLM value) const;
+
+public:
+
   double lambdaInitial; ///< The initial Levenberg-Marquardt damping term (default: 1e-5)
   double lambdaFactor; ///< The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0)
   double lambdaUpperBound; ///< The maximum lambda to try before assuming the optimization has failed (default: 1e5)
   VerbosityLM verbosityLM; ///< The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity
+  std::string logFile; ///< an optional CSV log file, with [iteration, time, error, labda]
 
   LevenbergMarquardtParams() : lambdaInitial(1e-5), lambdaFactor(10.0), lambdaUpperBound(1e5), verbosityLM(SILENT) {}
   virtual ~LevenbergMarquardtParams() {}
@@ -56,15 +63,13 @@ public:
   inline double getlambdaFactor() const { return lambdaFactor; }
   inline double getlambdaUpperBound() const { return lambdaUpperBound; }
   inline std::string getVerbosityLM() const { return verbosityLMTranslator(verbosityLM); }
+  inline std::string getLogFile() const { return logFile; }
 
   inline void setlambdaInitial(double value) { lambdaInitial = value; }
   inline void setlambdaFactor(double value) { lambdaFactor = value; }
   inline void setlambdaUpperBound(double value) { lambdaUpperBound = value; }
   inline void setVerbosityLM(const std::string &s) { verbosityLM = verbosityLMTranslator(s); }
-
+  inline void setLogFile(const std::string &s) { logFile = s;}
-private:
-  VerbosityLM verbosityLMTranslator(const std::string &s) const;
-  std::string verbosityLMTranslator(VerbosityLM value) const;
 };
 
 /**

tests/testNonlinearOptimizer.cpp

@@ -37,6 +37,7 @@
 using namespace boost::assign;
 
 #include <iostream>
+#include <fstream>
 
 using namespace std;
 using namespace gtsam;
@@ -348,6 +349,34 @@ TEST(NonlinearOptimizer, subclass_solver) {
   EXPECT(assert_equal(expected, actual, 1e-4));
 }
 
+/* ************************************************************************* */
+#include <wrap/utilities.h>
+TEST( NonlinearOptimizer, logfile )
+{
+  NonlinearFactorGraph fg(example::createReallyNonlinearFactorGraph());
+
+  Point2 x0(3,3);
+  Values c0;
+  c0.insert(X(1), x0);
+
+  // Levenberg-Marquardt
+  LevenbergMarquardtParams lmParams;
+  static const string filename("testNonlinearOptimizer.log");
+  lmParams.setLogFile(filename);
+  CHECK(lmParams.getLogFile()==filename);
+  LevenbergMarquardtOptimizer(fg, c0, lmParams).optimize();
+
+//  stringstream expected,actual;
+//  ifstream ifs(("../../gtsam/tests/" + filename).c_str());
+//  if(!ifs) throw std::runtime_error(filename);
+//  expected << ifs.rdbuf();
+//  ifs.close();
+//  ifstream ifs2(filename.c_str());
+//  if(!ifs2) throw std::runtime_error(filename);
+//  actual << ifs2.rdbuf();
+//  EXPECT(actual.str()==expected.str());
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;