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Adress review comments

release/4.3a0
Amado Antonini 2022-07-08 16:48:52 -04:00
parent 26dd94bdaf
commit 9dd1f8ffaf
3 changed files with 15 additions and 3 deletions
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2
gtsam/nonlinear/GncParams.h
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@ -161,7 +161,7 @@ class GTSAM_EXPORT GncParams {
std::cout << "knownInliers: " << knownInliers[i] << "\n"; std::cout << "knownInliers: " << knownInliers[i] << "\n";
for (size_t i = 0; i < knownOutliers.size(); i++) for (size_t i = 0; i < knownOutliers.size(); i++)
std::cout << "knownOutliers: " << knownOutliers[i] << "\n"; std::cout << "knownOutliers: " << knownOutliers[i] << "\n";
baseOptimizerParams.print(str); baseOptimizerParams.print("Base optimizer params: ");
} }
}; };

2
gtsam/nonlinear/nonlinear.i
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@ -571,7 +571,7 @@ virtual class GncParams {
void setVerbosityGNC(const This::Verbosity value); void setVerbosityGNC(const This::Verbosity value);
void setKnownInliers(const std::vector<size_t>& knownIn); void setKnownInliers(const std::vector<size_t>& knownIn);
void setKnownOutliers(const std::vector<size_t>& knownOut); void setKnownOutliers(const std::vector<size_t>& knownOut);
void print(const string& str = "") const; void print(const string& str = "GncParams: ") const;
enum Verbosity { enum Verbosity {
SILENT, SILENT,

14
python/gtsam/tests/test_NonlinearOptimizer.py
View File

@ -91,8 +91,19 @@ class TestScenario(GtsamTestCase):
base_params.setMaxIterations(base_max_iters) base_params.setMaxIterations(base_max_iters)
params = GncLMParams(base_params) params = GncLMParams(base_params)
self.assertEqual(params.baseOptimizerParams.getMaxIterations(), base_max_iters) self.assertEqual(params.baseOptimizerParams.getMaxIterations(), base_max_iters)
# Test printing # Test printing
str(params) params_str = str(params)
for s in (
"lossType",
"maxIterations",
"muStep",
"relativeCostTol",
"weightsTol",
"verbosity",
):
self.assertTrue(s in params_str)
# Test each parameter # Test each parameter
for loss_type in (GncLossType.TLS, GncLossType.GM): for loss_type in (GncLossType.TLS, GncLossType.GM):
params.setLossType(loss_type) # Default is TLS params.setLossType(loss_type) # Default is TLS
@ -121,6 +132,7 @@ class TestScenario(GtsamTestCase):
params.setKnownInliers(out) params.setKnownInliers(out)
self.assertEqual(params.knownInliers, out) self.assertEqual(params.knownInliers, out)
params.knownInliers = [] params.knownInliers = []
# Test optimizer params # Test optimizer params
optimizer = GncLMOptimizer(self.fg, self.initial_values, params) optimizer = GncLMOptimizer(self.fg, self.initial_values, params)
for ict_factor in (0.9, 1.1): for ict_factor in (0.9, 1.1):