From 45913ff73188d1b5e9eae1af5d42513caf14323c Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 25 Jul 2024 10:45:29 +0200
Subject: [PATCH] adapted to simplified solver options
---
demos/hello_wolf/hello_wolf.cpp | 2 +-
demos/hello_wolf/yaml/hello_wolf_config.yaml | 4 ++--
demos/solver/yaml/solver_ceres.yaml | 4 ++--
schema/solver/SolverCeres.schema | 4 ++--
src/solver/solver_manager.cpp | 3 +++
yaml_templates/solver/SolverCeres.yaml | 4 ++--
6 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 4e2358204..4e870257c 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -118,7 +118,7 @@ int main()
params_solver["parameter_tolerance"] = 1e-8;
params_solver["function_tolerance"] = 1e-8;
params_solver["gradient_tolerance"] = 1e-9;
- params_solver["minimizer"] = "LEVENBERG_MARQUARDT";
+ params_solver["minimizer"] = "levenberg_marquardt";
params_solver["use_nonmonotonic_steps"] = false;
params_solver["compute_cov"] = false;
SolverCeresPtr ceres = std::static_pointer_cast<SolverCeres>(SolverCeres::create(problem, params_solver));
diff --git a/demos/hello_wolf/yaml/hello_wolf_config.yaml b/demos/hello_wolf/yaml/hello_wolf_config.yaml
index 7f718f169..875736c4a 100644
--- a/demos/hello_wolf/yaml/hello_wolf_config.yaml
+++ b/demos/hello_wolf/yaml/hello_wolf_config.yaml
@@ -27,8 +27,8 @@ solver:
interrupt_on_problem_change: false
n_threads: 2
compute_cov: false
- minimizer: LEVENBERG_MARQUARDT
- use_nonmonotonic_steps: false # only for LEVENBERG_MARQUARDT and DOGLEG
+ minimizer: levenberg_marquardt
+ use_nonmonotonic_steps: false # only for levenberg_marquardt and DOGLEG
parameter_tolerance: 1e-6
function_tolerance: 1e-6
gradient_tolerance: 1e-10
diff --git a/demos/solver/yaml/solver_ceres.yaml b/demos/solver/yaml/solver_ceres.yaml
index 53a698323..1c16f6f9c 100644
--- a/demos/solver/yaml/solver_ceres.yaml
+++ b/demos/solver/yaml/solver_ceres.yaml
@@ -5,8 +5,8 @@ max_num_iterations: 1000
n_threads: 2
function_tolerance: 0.000001
gradient_tolerance: 0.0000000001
-minimizer: "LEVENBERG_MARQUARDT"
-use_nonmonotonic_steps: false # only for LEVENBERG_MARQUARDT and DOGLEG
+minimizer: "levenberg_marquardt"
+use_nonmonotonic_steps: false # only for levenberg_marquardt and DOGLEG
max_consecutive_nonmonotonic_steps: 5 # only if use_nonmonotonic_steps = true
compute_cov: true
cov_period: 1 #only if compute_cov
diff --git a/schema/solver/SolverCeres.schema b/schema/solver/SolverCeres.schema
index fb8979983..a0587ca3b 100644
--- a/schema/solver/SolverCeres.schema
+++ b/schema/solver/SolverCeres.schema
@@ -47,10 +47,10 @@ use_nonmonotonic_steps:
_mandatory: false
_type: bool
_default: false
- _doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
+ _doc: If the solver is allowed to update the solution with non-monotonic steps. Only used in 'levenberg_marquardt' and 'dogleg' minimizers.
max_consecutive_nonmonotonic_steps:
_mandatory: false
_type: unsigned int
_default: 2
- _doc: Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers.
\ No newline at end of file
+ _doc: Amount of consecutive non-monotonic steps allowed. Only used in 'levenberg_marquardt' and 'dogleg' minimizers.
\ No newline at end of file
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index d926bd33d..e5c6f2acc 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -82,6 +82,9 @@ SolverManagerPtr SolverManager::autoSetup(const ProblemPtr& _problem,
// Create YAML server
yaml_schema_cpp::YamlServer server = yaml_schema_cpp::YamlServer(_schema_folders);
server.setYaml(_param_node);
+
+ // Add the already loaded plugins' installed schema folders after optional input folders
+ server.addFolderSchema(FolderRegistry::getRegisteredFolders());
// Validate against TypeAndPlugin (check if it has 'type' and 'plugin')
if (not server.applySchema("TypeAndPlugin"))
diff --git a/yaml_templates/solver/SolverCeres.yaml b/yaml_templates/solver/SolverCeres.yaml
index 34328556b..47271f541 100644
--- a/yaml_templates/solver/SolverCeres.yaml
+++ b/yaml_templates/solver/SolverCeres.yaml
@@ -11,5 +11,5 @@ parameter_tolerance: 0.0 # DOC Parameter tolerance. Convergence criterion. Typi
function_tolerance: 0.0 # DOC Function tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
gradient_tolerance: 0.0 # DOC Gradient tolerance. Convergence criterion. Typical value: 1e-8 (see: http://ceres-solver.org/nnls_solving.html) - TYPE double
n_threads: 1 # DOC Amount of threads used by ceres. - TYPE unsigned int - OPTIONS [1, 2, 3, 4]
-use_nonmonotonic_steps: false # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE bool
-max_consecutive_nonmonotonic_steps: 2 # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in LEVENBERG_MARQUARDT and DOGLEG minimizers. - TYPE unsigned int
\ No newline at end of file
+use_nonmonotonic_steps: false # OPTIONAL - DOC If the solver is allowed to update the solution with non-monotonic steps. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE bool
+max_consecutive_nonmonotonic_steps: 2 # OPTIONAL - DOC Amount of consecutive non-monotonic steps allowed. Only used in 'levenberg_marquardt' and 'dogleg' minimizers. - TYPE unsigned int
\ No newline at end of file
--
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