From 245827ac854405cd03d3218a29c09530549bc5c2 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 12 Nov 2021 09:58:49 +0100
Subject: [PATCH] adding more parameters
---
include/core/ceres_wrapper/solver_ceres.h | 43 +++++++++++++++++--
...ree_manager_sliding_window_dual_rate3.yaml | 6 +--
...ger_sliding_window_dual_rate_baseline.yaml | 5 +--
test/yaml/solver.yaml | 9 ++++
4 files changed, 50 insertions(+), 13 deletions(-)
create mode 100644 test/yaml/solver.yaml
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index 4bf6f7de6..0c94e4c5e 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -44,17 +44,52 @@ struct ParamsCeres : public ParamsSolver
if (update_immediately)
min_num_iterations = _server.getParam<int>(prefix + "min_num_iterations");
- // ceres solver options
+ // CERES SOLVER OPTIONS
solver_options.max_num_iterations = _server.getParam<int>(prefix + "max_num_iterations");
+ solver_options.function_tolerance = _server.getParam<double>(prefix + "function_tolerance");
+ solver_options.gradient_tolerance = _server.getParam<double>(prefix + "gradient_tolerance");
solver_options.num_threads = _server.getParam<int>(prefix + "n_threads");
- covariance_options.num_threads = _server.getParam<int>(prefix + "n_threads");
+ covariance_options.num_threads = solver_options.num_threads;
+
+ // minimizer type
+ std::string minimizer = _server.getParam<std::string>(prefix + "minimizer");
+ if (minimizer == "LEVENBERG_MARQUARDT" or minimizer == "levenberg_marquardt")
+ {
+ solver_options.minimizer_type = ceres::TRUST_REGION;
+ solver_options.trust_region_strategy_type = ceres::LEVENBERG_MARQUARDT;
+ }
+ else if (minimizer == "DOGLEG" or minimizer == "dogleg")
+ {
+ solver_options.minimizer_type = ceres::TRUST_REGION;
+ solver_options.trust_region_strategy_type = ceres::DOGLEG;
+ }
+ else if (minimizer == "LBFGS" or minimizer == "lbfgs")
+ {
+ solver_options.minimizer_type = ceres::LINE_SEARCH;
+ solver_options.line_search_direction_type == ceres::LBFGS;
+ }
+ else if (minimizer == "BFGS" or minimizer == "bfgs")
+ {
+ solver_options.minimizer_type = ceres::LINE_SEARCH;
+ solver_options.line_search_direction_type == ceres::LBFGS;
+ }
+ else
+ {
+ throw std::runtime_error("ParamsCeres: Wrong parameter 'minimizer'. Should be 'LEVENBERG_MARQUARDT', 'DOGLEG', 'LBFGS' or 'BFGS' (upper or lowercase)");
+ }
+
+ // specific options for TRUST REGION
+ if (solver_options.minimizer_type == ceres::TRUST_REGION)
+ {
+ solver_options.use_nonmonotonic_steps = _server.getParam<bool>(prefix + "use_nonmonotonic_steps");
+ if (solver_options.use_nonmonotonic_steps)
+ solver_options.max_consecutive_nonmonotonic_steps = _server.getParam<int>(prefix + "max_consecutive_nonmonotonic_steps");
+ }
}
void loadHardcodedValues()
{
solver_options = ceres::Solver::Options();
- solver_options.minimizer_type = ceres::TRUST_REGION; //ceres::LINE_SEARCH;
- solver_options.trust_region_strategy_type = ceres::LEVENBERG_MARQUARDT; //ceres::DOGLEG;
problem_options = ceres::Problem::Options();
covariance_options = ceres::Covariance::Options();
problem_options.cost_function_ownership = ceres::DO_NOT_TAKE_OWNERSHIP;
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
index 8f00f6499..0b030b80f 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -1,10 +1,6 @@
config:
solver:
- period: 1
- verbose: 2
- update_immediately: false
- max_num_iterations: 10
- n_threads: 2
+ follow: "test/yaml/solver.yaml"
problem:
frame_structure: "PO"
dimension: 3
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
index 114e865bd..d00b201f9 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -1,9 +1,6 @@
config:
solver:
- period: 1
- verbose: 2
- update_immediately: false
- max_num_iterations: 10
+ follow: "test/yaml/solver.yaml"
problem:
frame_structure: "PO"
dimension: 3
diff --git a/test/yaml/solver.yaml b/test/yaml/solver.yaml
new file mode 100644
index 000000000..a748fc649
--- /dev/null
+++ b/test/yaml/solver.yaml
@@ -0,0 +1,9 @@
+period: 1
+verbose: 2
+update_immediately: false
+max_num_iterations: 1000
+n_threads: 2
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+minimizer: "LEVENBERG_MARQUARDT"
+use_nonmonotonic_steps: false
\ No newline at end of file
--
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