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Expose GNC params to python

release/4.3a0
Amado Antonini 2022-06-14 17:07:29 -04:00
parent 30412b8110
commit aee494a24f
3 changed files with 23 additions and 5 deletions
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8
gtsam/nonlinear/GncOptimizer.h
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@ -246,7 +246,9 @@ class GTSAM_EXPORT GncOptimizer {
prev_cost = cost; prev_cost = cost;
// display info // display info
if (params_.verbosity >= GncParameters::Verbosity::VALUES) { if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
std::cout << "iter: " << iter << std::endl;
std::cout << "mu: " << mu << std::endl;
std::cout << "previous cost: " << prev_cost << std::endl; std::cout << "previous cost: " << prev_cost << std::endl;
std::cout << "current cost: " << cost << std::endl; std::cout << "current cost: " << cost << std::endl;
} }
@ -255,9 +257,7 @@ class GTSAM_EXPORT GncOptimizer {
if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) { if (params_.verbosity >= GncParameters::Verbosity::SUMMARY) {
std::cout << "final iterations: " << iter << std::endl; std::cout << "final iterations: " << iter << std::endl;
std::cout << "final mu: " << mu << std::endl; std::cout << "final mu: " << mu << std::endl;
std::cout << "final weights: " << weights_ << std::endl; std::cout << "final cost: " << cost << std::endl;
std::cout << "previous cost: " << prev_cost << std::endl;
std::cout << "current cost: " << cost << std::endl;
} }
return result; return result;
} }

17
gtsam/nonlinear/nonlinear.i
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@ -544,11 +544,23 @@ virtual class DoglegParams : gtsam::NonlinearOptimizerParams {
}; };
#include <gtsam/nonlinear/GncParams.h> #include <gtsam/nonlinear/GncParams.h>
enum GncLossType {
GM /*Geman McClure*/,
TLS /*Truncated least squares*/
};
template<PARAMS> template<PARAMS>
virtual class GncParams { virtual class GncParams {
GncParams(const PARAMS& baseOptimizerParams); GncParams(const PARAMS& baseOptimizerParams);
GncParams(); GncParams();
void setLossType(const GncLossType type);
void setMaxIterations(const size_t maxIter);
void setMuStep(const double step);
void setRelativeCostTol(double value);
void setWeightsTol(double value);
void setVerbosityGNC(const This::Verbosity value); void setVerbosityGNC(const This::Verbosity value);
void setKnownInliers(const std::vector<size_t>& knownIn);
void setKnownOutliers(const std::vector<size_t>& knownOut);
void print(const string& str) const; void print(const string& str) const;
enum Verbosity { enum Verbosity {
@ -597,6 +609,11 @@ virtual class GncOptimizer {
GncOptimizer(const gtsam::NonlinearFactorGraph& graph, GncOptimizer(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& initialValues, const gtsam::Values& initialValues,
const PARAMS& params); const PARAMS& params);
void setInlierCostThresholds(const double inth);
const Vector& getInlierCostThresholds();
void setInlierCostThresholdsAtProbability(const double alpha);
void setWeights(const Vector w);
const Vector& getWeights();
gtsam::Values optimize(); gtsam::Values optimize();
}; };

3
python/gtsam/preamble/nonlinear.h
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@ -9,4 +9,5 @@
* automatic STL binding, such that the raw objects can be accessed in Python. * automatic STL binding, such that the raw objects can be accessed in Python.
* Without this they will be automatically converted to a Python object, and all * Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++. * mutations on Python side will not be reflected on C++.
*/ */
#include <pybind11/stl.h>