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minor changes to cout when verbosity is TRYLAMBDA

release/4.3a0
Luca 2014-04-09 21:00:38 -04:00
parent 4123053c81
commit d8fafce224
1 changed files with 11 additions and 3 deletions
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14
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
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@ -256,6 +256,9 @@ void LevenbergMarquardtOptimizer::iterate() {
double newlinearizedError = linear->error(delta); double newlinearizedError = linear->error(delta);
double linearizedCostChange = state_.error - newlinearizedError; double linearizedCostChange = state_.error - newlinearizedError;
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "newlinearizedError = " << newlinearizedError <<
"linearizedCostChange = " << linearizedCostChange << endl;
if (linearizedCostChange >= 0) { // step is valid if (linearizedCostChange >= 0) { // step is valid
// update values // update values
@ -266,10 +269,14 @@ void LevenbergMarquardtOptimizer::iterate() {
// compute new error // compute new error
gttic(compute_error); gttic(compute_error);
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "calculating error" << endl; cout << "calculating error:" << endl;
newError = graph_.error(newValues); newError = graph_.error(newValues);
gttoc(compute_error); gttoc(compute_error);
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "old error (" << state_.error
<< ") new (tentative) error (" << newError << ")" << endl;
// cost change in the original, nonlinear system (old - new) // cost change in the original, nonlinear system (old - new)
double costChange = state_.error - newError; double costChange = state_.error - newError;
@ -297,8 +304,7 @@ void LevenbergMarquardtOptimizer::iterate() {
break; break;
} else if (!stopSearchingLambda) { // we failed to solved the system or we had no decrease in cost } else if (!stopSearchingLambda) { // we failed to solved the system or we had no decrease in cost
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "increasing lambda: old error (" << state_.error cout << "increasing lambda" << endl;
<< ") new error (" << newError << ")" << endl;
increaseLambda(); increaseLambda();
// check if lambda is too big // check if lambda is too big
@ -310,6 +316,8 @@ void LevenbergMarquardtOptimizer::iterate() {
break; break;
} }
} else { // the change in the cost is very small and it is not worth trying bigger lambdas } else { // the change in the cost is very small and it is not worth trying bigger lambdas
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "Levenberg-Marquardt: stopping as relative cost reduction is small" << endl;
break; break;
} }
} // end while } // end while