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

Merge remote-tracking branch 'origin/develop' into unit3_push_upstream

release/4.3a0
dellaert 2015-10-20 14:14:56 -07:00
parent a1881efc70 3d1bc32027
commit a818304040
2 changed files with 17 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
gtsam/base/timing.h
View File

@ -117,6 +117,7 @@
# include <boost/timer/timer.hpp>
#else
# include <boost/timer.hpp>
# include <gtsam/base/types.h>
#endif
#ifdef GTSAM_USE_TBB

19
gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
View File

@ -22,11 +22,11 @@
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/linear/Errors.h>
#include <gtsam/base/timing.h>
#include <boost/algorithm/string.hpp>
#include <boost/range/adaptor/map.hpp>
#include <boost/format.hpp>
#include <boost/timer/timer.hpp>
#include <fstream>
#include <limits>
@ -239,7 +239,15 @@ void LevenbergMarquardtOptimizer::iterate() {
// Keep increasing lambda until we make make progress
while (true) {
boost::timer::cpu_timer timer;
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
boost::timer::cpu_timer lamda_iteration_timer;
lamda_iteration_timer.start();
#else
boost::timer lamda_iteration_timer;
lamda_iteration_timer.restart();
#endif
if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
cout << "trying lambda = " << state_.lambda << endl;
@ -324,9 +332,14 @@ void LevenbergMarquardtOptimizer::iterate() {
if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
// do timing
double iterationTime = 1e-9 * timer.elapsed().wall;
#ifdef GTSAM_USING_NEW_BOOST_TIMERS
double iterationTime = 1e-9 * lamda_iteration_timer.elapsed().wall;
#else
double iterationTime = lamda_iteration_timer.elapsed();
#endif
if (state_.iterations == 0)
cout << "iter cost cost_change lambda success iter_time" << endl;
cout << boost::format("% 4d % 8e % 3.2e % 3.2e % 4d % 3.2e") %
state_.iterations % newError % costChange % state_.lambda %
systemSolvedSuccessfully % iterationTime << endl;