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correctly parse optimizer params for base optimizer in gnc #1085

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Feb 19, 2022
Merged

correctly parse optimizer params for base optimizer in gnc #1085

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f340e62
correctly parse optimizer params for base optimizer in gnc
yunzc Dec 24, 2021
31e1a71
added unit test on params
Feb 19, 2022
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6 changes: 4 additions & 2 deletions gtsam/nonlinear/GncOptimizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -183,7 +183,8 @@ class GTSAM_EXPORT GncOptimizer {
/// Compute optimal solution using graduated non-convexity.
Values optimize() {
NonlinearFactorGraph graph_initial = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer(graph_initial, state_);
BaseOptimizer baseOptimizer(
graph_initial, state_, params_.baseOptimizerParams);
Values result = baseOptimizer.optimize();
double mu = initializeMu();
double prev_cost = graph_initial.error(result);
Expand Down Expand Up @@ -227,7 +228,8 @@ class GTSAM_EXPORT GncOptimizer {

// variable/values update
NonlinearFactorGraph graph_iter = this->makeWeightedGraph(weights_);
BaseOptimizer baseOptimizer_iter(graph_iter, state_);
BaseOptimizer baseOptimizer_iter(
graph_iter, state_, params_.baseOptimizerParams);
result = baseOptimizer_iter.optimize();

// stopping condition
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24 changes: 24 additions & 0 deletions tests/testGncOptimizer.cpp
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Expand Up @@ -98,6 +98,30 @@ TEST(GncOptimizer, gncConstructor) {
CHECK(gnc.equals(gnc2));
}

/* ************************************************************************* */
TEST(GncOptimizer, solverParameterParsing) {
// has to have Gaussian noise models !
auto fg = example::createReallyNonlinearFactorGraph(); // just a unary factor
// on a 2D point

Point2 p0(3, 3);
Values initial;
initial.insert(X(1), p0);

LevenbergMarquardtParams lmParams;
lmParams.setMaxIterations(0); // forces not to perform optimization
GncParams<LevenbergMarquardtParams> gncParams(lmParams);
auto gnc = GncOptimizer<GncParams<LevenbergMarquardtParams>>(fg, initial,
gncParams);
Values result = gnc.optimize();

// check that LM did not perform optimization and result is the same as the initial guess
DOUBLES_EQUAL(fg.error(initial), fg.error(result), tol);

// also check the params:
DOUBLES_EQUAL(0.0, gncParams.baseOptimizerParams.maxIterations, tol);
}

/* ************************************************************************* */
TEST(GncOptimizer, gncConstructorWithRobustGraphAsInput) {
auto fg = example::sharedNonRobustFactorGraphWithOutliers();
Expand Down