def test_lm_simple_printing(self):
"""Make sure we are properly terminating LM"""
def hook(_, error):
print(error)
gtsam_optimize(self.lmoptimizer, self.lmparams, hook)
actual = self.lmoptimizer.values()
self.gtsamAssertEquals(actual.atRot3(KEY), self.expected, tol=1e-6)
def test_simple_printing(self):
"""Test with a simple hook."""
# Provide a hook that just prints
def hook(_, error):
print(error)
# Only thing we require from optimizer is an iterate method
gtsam_optimize(self.optimizer, self.params, hook)
# Check that optimizing yields the identity.
actual = self.optimizer.values()
self.gtsamAssertEquals(actual.atRot3(KEY), self.expected, tol=1e-6)
def test_comet(self):
"""Test with a comet hook."""
from comet_ml import Experiment
comet = Experiment(project_name="Testing",
auto_output_logging="native")
comet.log_dataset_info(name="Karcher", path="shonan")
comet.add_tag("GaussNewton")
comet.log_parameter("method", "GaussNewton")
time = datetime.now()
comet.set_name("GaussNewton-" + str(time.month) + "/" + str(time.day) +
" " + str(time.hour) + ":" + str(time.minute) + ":" +
str(time.second))
# I want to do some comet thing here
def hook(optimizer, error):
comet.log_metric("Karcher error", error, optimizer.iterations())
gtsam_optimize(self.optimizer, self.params, hook)
comet.end()
actual = self.optimizer.values()
self.gtsamAssertEquals(actual.atRot3(KEY), self.expected)
def test_lm_simple_printing(self):
"""Make sure we are properly terminating LM"""
def hook(_, error):
print(error)
params = gtsam.LevenbergMarquardtParams()
actual = optimize_using(gtsam.LevenbergMarquardtOptimizer, hook,
self.graph, self.initial)
self.check(actual)
actual = optimize_using(gtsam.LevenbergMarquardtOptimizer, hook,
self.graph, self.initial, params)
self.check(actual)
actual = gtsam_optimize(
gtsam.LevenbergMarquardtOptimizer(self.graph, self.initial,
params), params, hook)
def test_simple_printing(self):
"""Test with a simple hook."""
# Provide a hook that just prints
def hook(_, error):
print(error)
# Wrapper function sets the hook and calls optimizer.optimize() for us.
params = gtsam.GaussNewtonParams()
actual = optimize_using(gtsam.GaussNewtonOptimizer, hook, self.graph,
self.initial)
self.check(actual)
actual = optimize_using(gtsam.GaussNewtonOptimizer, hook, self.graph,
self.initial, params)
self.check(actual)
actual = gtsam_optimize(
gtsam.GaussNewtonOptimizer(self.graph, self.initial, params),
params, hook)
self.check(actual)
import os
dsname = os.path.splitext(os.path.basename(g2oFile))[0]
print("Logging to: " + args.logdir + "/" + args.prefix + "_" + dsname)
writer = SummaryWriter(args.logdir + "/" + args.prefix + "_" + dsname)
def hook(optimizer, error: float):
writer.add_scalar("optimizer/loss", error, optimizer.iterations())
writer.add_scalar("optimizer/lambda", optimizer.lambda_(),
optimizer.iterations())
writer.flush()
gtsam_optimize(optimizer, params, hook)
result = optimizer.values()
print("Optimization complete")
print("initial error = ", graph.error(initial))
print("final error = ", graph.error(result))
if args.output is None:
print("Final Result:\n{}".format(result))
else:
outputFile = args.output
print("Writing results to file: ", outputFile)
# graphNoKernel, _ = gtsam.readG2o(g2oFile, is3D)
gtsam.writeG2o(graph, result, outputFile)
