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Merged in feature/lm-verbose-summary (pull request #126) 

Add SUMMARY verbose level to LM.
release/4.3a0
Chris Beall 2015-03-08 09:41:03 -04:00
parent 4ebb1afa33 d35ae38321
commit 8e5bc26ac9
2 changed files with 25 additions and 5 deletions
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28
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -42,6 +42,8 @@ LevenbergMarquardtParams::VerbosityLM LevenbergMarquardtParams::verbosityLMTrans
boost::algorithm::to_upper(s); boost::algorithm::to_upper(s);
if (s == "SILENT") if (s == "SILENT")
return LevenbergMarquardtParams::SILENT; return LevenbergMarquardtParams::SILENT;
if (s == "SUMMARY")
return LevenbergMarquardtParams::SUMMARY;
if (s == "LAMBDA") if (s == "LAMBDA")
return LevenbergMarquardtParams::LAMBDA; return LevenbergMarquardtParams::LAMBDA;
if (s == "TRYLAMBDA") if (s == "TRYLAMBDA")
@ -65,6 +67,9 @@ std::string LevenbergMarquardtParams::verbosityLMTranslator(
case LevenbergMarquardtParams::SILENT: case LevenbergMarquardtParams::SILENT:
s = "SILENT"; s = "SILENT";
break; break;
case LevenbergMarquardtParams::SUMMARY:
s = "SUMMARY";
break;
case LevenbergMarquardtParams::TERMINATION: case LevenbergMarquardtParams::TERMINATION:
s = "TERMINATION"; s = "TERMINATION";
break; break;
@ -219,9 +224,15 @@ void LevenbergMarquardtOptimizer::iterate() {
cout << "linearizing = " << endl; cout << "linearizing = " << endl;
GaussianFactorGraph::shared_ptr linear = linearize(); GaussianFactorGraph::shared_ptr linear = linearize();
if(state_.totalNumberInnerIterations==0) // write initial error if(state_.totalNumberInnerIterations==0) { // write initial error
writeLogFile(state_.error); writeLogFile(state_.error);
if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
cout << "Initial error: " << state_.error << ", values: " << state_.values.size()
<< std::endl;
}
}
// Keep increasing lambda until we make make progress // Keep increasing lambda until we make make progress
while (true) { while (true) {
@ -248,6 +259,8 @@ void LevenbergMarquardtOptimizer::iterate() {
systemSolvedSuccessfully = false; systemSolvedSuccessfully = false;
} }
double linearizedCostChange = 0,
newlinearizedError = 0;
if (systemSolvedSuccessfully) { if (systemSolvedSuccessfully) {
params_.reuse_diagonal_ = true; params_.reuse_diagonal_ = true;
@ -257,9 +270,9 @@ void LevenbergMarquardtOptimizer::iterate() {
delta.print("delta"); delta.print("delta");
// cost change in the linearized system (old - new) // cost change in the linearized system (old - new)
double newlinearizedError = linear->error(delta); newlinearizedError = linear->error(delta);
double linearizedCostChange = state_.error - newlinearizedError; linearizedCostChange = state_.error - newlinearizedError;
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "newlinearizedError = " << newlinearizedError << cout << "newlinearizedError = " << newlinearizedError <<
" linearizedCostChange = " << linearizedCostChange << endl; " linearizedCostChange = " << linearizedCostChange << endl;
@ -304,6 +317,12 @@ void LevenbergMarquardtOptimizer::iterate() {
} }
} }
if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
cout << "[" << state_.iterations << "]: " << "new error = " << newlinearizedError
<< ", delta = " << linearizedCostChange << ", lambda = " << state_.lambda
<< ", success = " << systemSolvedSuccessfully << std::endl;
}
++state_.totalNumberInnerIterations; ++state_.totalNumberInnerIterations;
if (step_is_successful) { // we have successfully decreased the cost and we have good modelFidelity if (step_is_successful) { // we have successfully decreased the cost and we have good modelFidelity
@ -320,7 +339,8 @@ void LevenbergMarquardtOptimizer::iterate() {
// check if lambda is too big // check if lambda is too big
if (state_.lambda >= params_.lambdaUpperBound) { if (state_.lambda >= params_.lambdaUpperBound) {
if (nloVerbosity >= NonlinearOptimizerParams::TERMINATION) if (nloVerbosity >= NonlinearOptimizerParams::TERMINATION ||
lmVerbosity == LevenbergMarquardtParams::SUMMARY)
cout << "Warning: Levenberg-Marquardt giving up because " cout << "Warning: Levenberg-Marquardt giving up because "
"cannot decrease error with maximum lambda" << endl; "cannot decrease error with maximum lambda" << endl;
break; break;

2
gtsam/nonlinear/LevenbergMarquardtOptimizer.h
View File

@ -38,7 +38,7 @@ class GTSAM_EXPORT LevenbergMarquardtParams: public NonlinearOptimizerParams {
public: public:
/** See LevenbergMarquardtParams::lmVerbosity */ /** See LevenbergMarquardtParams::lmVerbosity */
enum VerbosityLM { enum VerbosityLM {
SILENT = 0, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA SILENT = 0, SUMMARY, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA
}; };
static VerbosityLM verbosityLMTranslator(const std::string &s); static VerbosityLM verbosityLMTranslator(const std::string &s);