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added input arguments for BAL testing

release/4.3a0
Luca Carlone 2013-10-16 23:17:29 +00:00
parent eedbbc9aac
commit 12b19b6ca9
1 changed files with 39 additions and 10 deletions
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49
gtsam_unstable/examples/SmartProjectionFactorTesting.cpp
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@ -164,7 +164,8 @@ void optimizeGraphLM(NonlinearFactorGraph &graph, gtsam::Values::shared_ptr grap
gttoc_(SmartProjectionFactorExample_kitti);
tictoc_finishedIteration_();
std::cout << "Total number of LM iterations: " << optimizer.state().iterations << std::endl;
std::cout << "Number of outer LM iterations: " << optimizer.state().iterations << std::endl;
std::cout << "Total number of LM iterations (inner and outer): " << optimizer.getInnerIterations() << std::endl;
//}
//*ordering = params.ordering;
@ -214,19 +215,12 @@ int main(int argc, char** argv) {
double linThreshold = -1.0; // negative is disabled
double rankTolerance = 1.0;
// bool incrementalFlag = false;
// int optSkip = 200; // we optimize the graph every optSkip poses
std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl;
std::cout << "PARAM LM: " << useLM << std::endl;
std::cout << "PARAM linThreshold (negative is disabled): " << linThreshold << std::endl;
if(addNoise)
std::cout << "PARAM Noise: " << addNoise << std::endl;
// Get home directory and dataset
string HOME = getenv("HOME");
string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1031-110968-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Ladybug/problem-1723-156502-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Trafalgar-Square/problem-257-65132-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Final/problem-961-187103-pre.txt";
// string datasetFile = HOME + "/data/SfM/BAL/Final/problem-1936-649673-pre.txt";
@ -234,6 +228,41 @@ int main(int argc, char** argv) {
// string datasetFile = HOME + "/data/SfM/BAL/Final/problem-4585-1324582-pre.txt";
// 13682 4456117 28987644 problem-13682-4456117-pre.txt.bz2
std::cout << "argc: " << argc << std::endl;
if(argc>1){ // if we have any input arguments
string useSmartArgument = argv[1];
string useTriangulationArgument = argv[2];
string datasetFile = argv[3];
if(useSmartArgument.compare("smart")==0){
useSmartProjectionFactor=true;
} else{
if(useSmartArgument.compare("standard")==0){
useSmartProjectionFactor=false;
}else{
cout << "Selected wrong option for input argument - useSmartProjectionFactor" << endl;
exit(1);
}
}
if(useTriangulationArgument.compare("do")==0){
doTriangulation=true;
} else{
if(useTriangulationArgument.compare("dont")==0){
doTriangulation=false;
}else{
cout << "Selected wrong option for input argument - doTriangulation - not important for SmartFactors" << endl;
}
}
}
std::cout << "PARAM SmartFactor: " << useSmartProjectionFactor << std::endl;
std::cout << "PARAM doTriangulation: " << doTriangulation << std::endl;
// std::cout << "PARAM LM: " << useLM << std::endl;
std::cout << "PARAM linThreshold (negative is disabled): " << linThreshold << std::endl;
if(addNoise)
std::cout << "PARAM Noise: " << addNoise << std::endl;
std::cout << "datasetFile: " << datasetFile << std::endl;
static SharedNoiseModel pixel_sigma(noiseModel::Unit::Create(2));
NonlinearFactorGraph graphSmart, graphProjection;