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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @file timeBatch.cpp
* @brief Overall timing tests for batch solving
* @author Richard Roberts
*/
#include <gtsam/base/timing.h>
#include <gtsam/slam/dataset.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Marginals.h>
using namespace std;
using namespace gtsam;
int main(int argc, char *argv[]) {
try {
cout << "Loading data..." << endl;
string datasetFile = findExampleDataFile("w10000");
std::pair<NonlinearFactorGraph::shared_ptr, Values::shared_ptr> data =
load2D(datasetFile);
NonlinearFactorGraph graph = *data.first;
Values initial = *data.second;
cout << "Optimizing..." << endl;
gttic_(Create_optimizer);
LevenbergMarquardtOptimizer optimizer(graph, initial);
gttoc_(Create_optimizer);
tictoc_print_();
double lastError = optimizer.error();
do {
gttic_(Iterate_optimizer);
optimizer.iterate();
gttoc_(Iterate_optimizer);
tictoc_finishedIteration_();
tictoc_print_();
cout << "Error: " << optimizer.error() << ", lambda: " << optimizer.lambda() << endl;
break;
} while(!checkConvergence(optimizer.params().relativeErrorTol,
optimizer.params().absoluteErrorTol, optimizer.params().errorTol,
lastError, optimizer.error(), optimizer.params().verbosity));
// Compute marginals
Marginals marginals(graph, optimizer.values());
int i=0;
for(Key key: initial.keys()) {
gttic_(marginalInformation);
Matrix info = marginals.marginalInformation(key);
gttoc_(marginalInformation);
tictoc_finishedIteration_();
if(i % 1000 == 0)
tictoc_print_();
++i;
}
} catch(std::exception& e) {
cout << e.what() << endl;
return 1;
}
return 0;
}
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