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ladies and gents... GNC!

release/4.3a0
lcarlone 2020-11-27 22:22:14 -05:00
parent dab00907b9
commit ef47741881
1 changed files with 3 additions and 3 deletions
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6
tests/testGncOptimizer.cpp
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@ -48,7 +48,7 @@ public:
GM /*Geman McClure*/, TLS /*Truncated least squares*/ GM /*Geman McClure*/, TLS /*Truncated least squares*/
}; };
// using BaseOptimizer = GaussNewtonOptimizer; // BaseOptimizerParameters::OptimizerType; using BaseOptimizer = GaussNewtonOptimizer; // BaseOptimizerParameters::OptimizerType;
GncParams(const BaseOptimizerParameters& baseOptimizerParams): GncParams(const BaseOptimizerParameters& baseOptimizerParams):
baseOptimizerParams(baseOptimizerParams), baseOptimizerParams(baseOptimizerParams),
@ -165,7 +165,7 @@ public:
// variable/values update // variable/values update
NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights); NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights);
GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_); GaussNewtonOptimizer baseOptimizer_iter(graph_iter, state_);
result = baseOptimizer.optimize(); result = baseOptimizer_iter.optimize();
// stopping condition // stopping condition
if( checkMuConvergence(mu) ) { if( checkMuConvergence(mu) ) {
@ -492,7 +492,7 @@ TEST(GncOptimizer, optimize) {
// .. but graduated nonconvexity ensures both robustness and convergence in the face of nonconvexity // .. but graduated nonconvexity ensures both robustness and convergence in the face of nonconvexity
GncParams<GaussNewtonParams> gncParams(gnParams); GncParams<GaussNewtonParams> gncParams(gnParams);
gncParams.setVerbosityGNC(GncParams<GaussNewtonParams>::VerbosityGNC::VALUES); // gncParams.setVerbosityGNC(GncParams<GaussNewtonParams>::VerbosityGNC::SUMMARY);
auto gnc = GncOptimizer<GncParams<GaussNewtonParams>>(fg, initial, gncParams); auto gnc = GncOptimizer<GncParams<GaussNewtonParams>>(fg, initial, gncParams);
Values gnc_result = gnc.optimize(); Values gnc_result = gnc.optimize();
CHECK(assert_equal(Point2(0.0,0.0), gnc_result.at<Point2>(X(1)), 1e-3)); CHECK(assert_equal(Point2(0.0,0.0), gnc_result.at<Point2>(X(1)), 1e-3));