SolverComparer.cpp File Reference

Incremental and batch solving, timing, and accuracy comparisons. More...

#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/sam/BearingRangeFactor.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/nonlinear/GaussNewtonOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
#include <gtsam/linear/GaussianJunctionTree.h>
#include <gtsam/linear/GaussianEliminationTree.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/timing.h>
#include <gtsam/base/treeTraversal-inst.h>
#include <gtsam/config.h>
#include <boost/archive/binary_iarchive.hpp>
#include <boost/archive/binary_oarchive.hpp>
#include <boost/program_options.hpp>
#include <boost/range/algorithm/set_algorithm.hpp>
#include <boost/range/adaptor/reversed.hpp>
#include <boost/serialization/export.hpp>
#include <fstream>
#include <iostream>
#include <random>

Include dependency graph for SolverComparer.cpp:

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Typedefs
typedef BearingRangeFactor< Pose, Point2 >	BR
typedef NoiseModelFactor1< Pose >	NM1
typedef NoiseModelFactor2< Pose, Pose >	NM2
typedef Pose2	Pose

Functions
double	chi2_red (const gtsam::NonlinearFactorGraph &graph, const gtsam::Values &config)
int	main (int argc, char *argv[])
void	runBatch ()
void	runCompare ()
void	runIncremental ()
void	runPerturb ()
void	runStats ()

Variables
bool	batch
bool	compare
string	compareFile1
string	compareFile2
NonlinearFactorGraph	datasetMeasurements
string	datasetName
bool	dogleg
int	firstStep
bool	incremental
Values	initial
string	inputFile
int	lastStep
int	nThreads
string	outputFile
bool	perturb
double	perturbationNoise
int	relinSkip
bool	stats

Detailed Description

Incremental and batch solving, timing, and accuracy comparisons.

Author

Richard Roberts

Date

August, 2013

Here is an example. Below, to run in batch mode, we first generate an initialization in incremental mode.

Solve in incremental and write to file w_inc: ./SolverComparer –incremental -d w10000 -o w_inc

You can then perturb that initialization to get batch something to optimize. Read in w_inc, perturb it with noise of stddev 0.6, and write to w_pert: ./SolverComparer –perturb 0.6 -i w_inc -o w_pert

Then optimize with batch, read in w_pert, solve in batch, and write to w_batch: ./SolverComparer –batch -d w10000 -i w_pert -o w_batch

And finally compare solutions in w_inc and w_batch to check that batch converged to the global minimum ./SolverComparer –compare w_inc w_batch

Definition in file SolverComparer.cpp.

Typedef Documentation

typedef BearingRangeFactor<Pose,Point2> BR

Definition at line 74 of file SolverComparer.cpp.

typedef NoiseModelFactor1<Pose> NM1

Definition at line 72 of file SolverComparer.cpp.

typedef NoiseModelFactor2<Pose,Pose> NM2

Definition at line 73 of file SolverComparer.cpp.

typedef Pose2 Pose

Definition at line 70 of file SolverComparer.cpp.

Function Documentation

double chi2_red	(	const gtsam::NonlinearFactorGraph &	graph,
		const gtsam::Values &	config
	)

Definition at line 76 of file SolverComparer.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 117 of file SolverComparer.cpp.

void runBatch

(

)

Definition at line 469 of file SolverComparer.cpp.

void runCompare

(

)

Definition at line 514 of file SolverComparer.cpp.

void runIncremental

(

)

Definition at line 245 of file SolverComparer.cpp.

void runPerturb

(

)

Definition at line 554 of file SolverComparer.cpp.

void runStats

(

)

Definition at line 585 of file SolverComparer.cpp.

Variable Documentation

bool batch

Definition at line 99 of file SolverComparer.cpp.

bool compare

Definition at line 100 of file SolverComparer.cpp.

string compareFile1

Definition at line 104 of file SolverComparer.cpp.

string compareFile2

Definition at line 104 of file SolverComparer.cpp.

NonlinearFactorGraph datasetMeasurements

Definition at line 107 of file SolverComparer.cpp.

string datasetName

Definition at line 92 of file SolverComparer.cpp.

bool dogleg

Definition at line 98 of file SolverComparer.cpp.

int firstStep

Definition at line 93 of file SolverComparer.cpp.

bool incremental

Definition at line 97 of file SolverComparer.cpp.

Values initial

Definition at line 106 of file SolverComparer.cpp.

string inputFile

Definition at line 91 of file SolverComparer.cpp.

int lastStep

Definition at line 94 of file SolverComparer.cpp.

int nThreads

Definition at line 95 of file SolverComparer.cpp.

string outputFile

Definition at line 90 of file SolverComparer.cpp.

bool perturb

Definition at line 101 of file SolverComparer.cpp.

double perturbationNoise

Definition at line 103 of file SolverComparer.cpp.

int relinSkip

Definition at line 96 of file SolverComparer.cpp.

bool stats

Definition at line 102 of file SolverComparer.cpp.