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Added a check to NonlinearOptimizer to short circuit optimization if the initial error is below the absolute threshold.

release/4.3a0
Alex Cunningham 2010-03-04 22:46:27 +00:00
parent 4ae9b72a35
commit d6c2b415a5
3 changed files with 7 additions and 3 deletions
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4
cpp/NonlinearOptimizer-inl.h
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@ -186,6 +186,10 @@ namespace gtsam {
double relativeThreshold, double absoluteThreshold, double relativeThreshold, double absoluteThreshold,
verbosityLevel verbosity, int maxIterations, double lambdaFactor) const { verbosityLevel verbosity, int maxIterations, double lambdaFactor) const {
// check if we're already close enough
if (error_ < absoluteThreshold)
return *this;
// do one iteration of LM // do one iteration of LM
NonlinearOptimizer next = iterateLM(verbosity, lambdaFactor); NonlinearOptimizer next = iterateLM(verbosity, lambdaFactor);

2
cpp/testNonlinearOptimizer.cpp
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@ -32,7 +32,7 @@ using namespace boost;
using namespace gtsam; using namespace gtsam;
using namespace example; using namespace example;
const double tol = 1e-6; const double tol = 1e-5;
typedef NonlinearOptimizer<Graph,Config> Optimizer; typedef NonlinearOptimizer<Graph,Config> Optimizer;

4
cpp/testSQP.cpp
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@ -627,14 +627,14 @@ TEST (SQP, stereo_truth_noisy ) {
VOptimizer optimizer(optimizer0.levenbergMarquardt(relThresh, absThresh, VOptimizer::SILENT)); VOptimizer optimizer(optimizer0.levenbergMarquardt(relThresh, absThresh, VOptimizer::SILENT));
// verify // verify
DOUBLES_EQUAL(0.0, optimizer.error(), 1e-9); DOUBLES_EQUAL(0.0, optimizer.error(), 1e-5);
// check if correct // check if correct
if (verbose) { if (verbose) {
optimizer.config()->print("After iteration"); optimizer.config()->print("After iteration");
cout << "Final error: " << optimizer.error() << endl; cout << "Final error: " << optimizer.error() << endl;
} }
CHECK(assert_equal(*truthConfig,*(optimizer.config()))); CHECK(assert_equal(*truthConfig,*(optimizer.config()), 1e-5));
} }
/* ********************************************************************* */ /* ********************************************************************* */