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Replaced static variable counter inside ISAM2 update() with a member variable to avoid a bug where if multiple instances of ISAM2 are running in the same process, the counter gets incremented in each of them, resulting in very difficult to debug failures.

release/4.3a0
Alex Cunningham 2014-03-27 16:15:29 -04:00
parent 178b7f29da
commit cb3cec3789
2 changed files with 7 additions and 5 deletions
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10
gtsam/nonlinear/ISAM2.cpp
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@ -151,13 +151,13 @@ void ISAM2Clique::print(const std::string& s, const KeyFormatter& formatter) con
} }
/* ************************************************************************* */ /* ************************************************************************* */
ISAM2::ISAM2(const ISAM2Params& params): params_(params) { ISAM2::ISAM2(const ISAM2Params& params): params_(params), update_count_(0) {
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta; doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
} }
/* ************************************************************************* */ /* ************************************************************************* */
ISAM2::ISAM2() { ISAM2::ISAM2() : update_count_(0) {
if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams)) if(params_.optimizationParams.type() == typeid(ISAM2DoglegParams))
doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta; doglegDelta_ = boost::get<ISAM2DoglegParams>(params_.optimizationParams).initialDelta;
} }
@ -521,8 +521,7 @@ ISAM2Result ISAM2::update(
gttic(ISAM2_update); gttic(ISAM2_update);
static int count = 0; this->update_count_++;
count++;
lastAffectedVariableCount = 0; lastAffectedVariableCount = 0;
lastAffectedFactorCount = 0; lastAffectedFactorCount = 0;
@ -533,7 +532,8 @@ ISAM2Result ISAM2::update(
ISAM2Result result; ISAM2Result result;
if(params_.enableDetailedResults) if(params_.enableDetailedResults)
result.detail = ISAM2Result::DetailedResults(); result.detail = ISAM2Result::DetailedResults();
const bool relinearizeThisStep = force_relinearize || (params_.enableRelinearization && count % params_.relinearizeSkip == 0); const bool relinearizeThisStep = force_relinearize
|| (params_.enableRelinearization && update_count_ % params_.relinearizeSkip == 0);
if(verbose) { if(verbose) {
cout << "ISAM2::update\n"; cout << "ISAM2::update\n";

2
gtsam/nonlinear/ISAM2.h
View File

@ -468,6 +468,8 @@ protected:
* variables and thus cannot have their linearization points changed. */ * variables and thus cannot have their linearization points changed. */
FastSet<Key> fixedVariables_; FastSet<Key> fixedVariables_;
int update_count_; ///< Counter incremented every update(), used to determine periodic relinearization
public: public:
typedef ISAM2 This; ///< This class typedef ISAM2 This; ///< This class