55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file timeBatch.cpp
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* @brief Overall timing tests for batch solving
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* @author Richard Roberts
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*/
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#include <gtsam/base/timing.h>
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#include <gtsam/slam/dataset.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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using namespace std;
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using namespace gtsam;
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int main(int argc, char *argv[]) {
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cout << "Loading data..." << endl;
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string datasetFile = findExampleDataFile("w10000-odom");
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std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> data =
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load2D(datasetFile);
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NonlinearFactorGraph graph = *data.first;
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Values initial = *data.second;
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cout << "Optimizing..." << endl;
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gttic_(Create_optimizer);
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LevenbergMarquardtOptimizer optimizer(graph, initial);
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gttoc_(Create_optimizer);
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tictoc_print_();
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double lastError = optimizer.error();
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do {
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gttic_(Iterate_optimizer);
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optimizer.iterate();
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gttoc_(Iterate_optimizer);
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tictoc_finishedIteration_();
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tictoc_print_();
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cout << "Error: " << optimizer.error() << ", lambda: " << optimizer.lambda() << endl;
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} while(!checkConvergence(optimizer.params().relativeErrorTol,
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optimizer.params().absoluteErrorTol, optimizer.params().errorTol,
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lastError, optimizer.error(), optimizer.params().verbosity));
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return 0;
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}
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