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

improve PCGSolverParameters

release/4.3a0
Varun Agrawal 2024-10-14 21:16:31 -04:00
parent 322a23d49c
commit 91d637b092
3 changed files with 19 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
gtsam/linear/PCGSolver.cpp
View File

@ -40,7 +40,7 @@ void PCGSolverParameters::print(ostream &os) const {
/*****************************************************************************/
PCGSolver::PCGSolver(const PCGSolverParameters &p) {
parameters_ = p;
preconditioner_ = createPreconditioner(p.preconditioner_);
preconditioner_ = createPreconditioner(p.preconditioner());
}
void PCGSolverParameters::setPreconditionerParams(const std::shared_ptr<PreconditionerParameters> preconditioner) {

24
gtsam/linear/PCGSolver.h
View File

@ -38,22 +38,26 @@ public:
typedef ConjugateGradientParameters Base;
typedef std::shared_ptr<PCGSolverParameters> shared_ptr;
PCGSolverParameters() {
}
protected:
std::shared_ptr<PreconditionerParameters> preconditioner_;
public:
PCGSolverParameters() {}
PCGSolverParameters(
const std::shared_ptr<PreconditionerParameters> &preconditioner)
: preconditioner_(preconditioner) {}
void print(std::ostream &os) const override;
/* interface to preconditioner parameters */
inline const PreconditionerParameters& preconditioner() const {
return *preconditioner_;
const std::shared_ptr<PreconditionerParameters> preconditioner() const {
return preconditioner_;
}
// needed for python wrapper
void setPreconditionerParams(
const std::shared_ptr<PreconditionerParameters> preconditioner);
void print(const std::string &s) const;
std::shared_ptr<PreconditionerParameters> preconditioner_;
void setPreconditionerParams(const std::shared_ptr<PreconditionerParameters> preconditioner);
};
/**

11
gtsam/sfm/ShonanAveraging.cpp
View File

@ -67,20 +67,15 @@ ShonanAveragingParameters<d>::ShonanAveragingParameters(
builderParameters.augmentationWeight = SubgraphBuilderParameters::SKELETON;
builderParameters.augmentationFactor = 0.0;
auto pcg = std::make_shared<PCGSolverParameters>();
// Choose optimization method
if (method == "SUBGRAPH") {
lm.iterativeParams =
std::make_shared<SubgraphSolverParameters>(builderParameters);
} else if (method == "SGPC") {
pcg->preconditioner_ =
std::make_shared<SubgraphPreconditionerParameters>(builderParameters);
lm.iterativeParams = pcg;
lm.iterativeParams = std::make_shared<PCGSolverParameters>(
std::make_shared<SubgraphPreconditionerParameters>(builderParameters));
} else if (method == "JACOBI") {
pcg->preconditioner_ =
std::make_shared<BlockJacobiPreconditionerParameters>();
lm.iterativeParams = pcg;
lm.iterativeParams = std::make_shared<PCGSolverParameters>(std::make_shared<BlockJacobiPreconditionerParameters>());
} else if (method == "QR") {
lm.setLinearSolverType("MULTIFRONTAL_QR");
} else if (method == "CHOLESKY") {