12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Log *before* iteration starts

release/4.3a0
Frank Dellaert 2013-10-31 03:19:09 +00:00
parent efeb7b4f8a
commit ff050b82d9
1 changed files with 12 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -78,6 +78,18 @@ GaussianFactorGraph::shared_ptr LevenbergMarquardtOptimizer::linearize() const {
/* ************************************************************************* */
void LevenbergMarquardtOptimizer::iterate() {
// Log current error/lambda to file
if (!params_.logFile.empty()) {
ofstream os(params_.logFile.c_str(), ios::app);
timeval rawtime;
gettimeofday(&rawtime, NULL);
double currentTime = rawtime.tv_sec + rawtime.tv_usec / 1000000.0;
os << state_.iterations << "," << currentTime-state_.startTime << ","
<< state_.error << "," << state_.lambda << endl;
}
gttic(LM_iterate);
// Linearize graph
@ -173,17 +185,6 @@ void LevenbergMarquardtOptimizer::iterate() {
if (lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
cout << "using lambda = " << state_.lambda << endl;
if (!params_.logFile.empty()) {
ofstream os(params_.logFile.c_str(), ios::app);
timeval rawtime;
gettimeofday(&rawtime, NULL);
double currentTime = rawtime.tv_sec + rawtime.tv_usec / 1000000.0;
os << state_.iterations << "," << currentTime-state_.startTime << ","
<< state_.error << "," << state_.lambda << endl;
}
// Increment the iteration counter
++state_.iterations;
}