Detailed Description

Parameters for CPU SFM Levenberg-Marquardt optimization.

Inheritance diagram for gtsam::SfmLevenbergMarquardtParams:

Public Member Functions
	SfmLevenbergMarquardtParams ()
	Construct the fastest measured CPU defaults: Full + MultifrontalSolver.
SfmEliminationMode	getEliminationMode () const
void	setEliminationMode (SfmEliminationMode mode)
void	print (const std::string &str="") const override
bool	equals (const SfmLevenbergMarquardtParams &other, double tol=1e-9) const
std::shared_ptr< NonlinearOptimizerParams >	clone () const
	Return a polymorphic copy preserving the SFM elimination mode.
Public Member Functions inherited from gtsam::LevenbergMarquardtParams
bool	getDiagonalDamping () const
double	getlambdaFactor () const
double	getlambdaInitial () const
double	getlambdaLowerBound () const
double	getlambdaUpperBound () const
bool	getUseFixedLambdaFactor ()
std::string	getLogFile () const
std::string	getVerbosityLM () const
void	setDiagonalDamping (bool flag)
void	setlambdaFactor (double value)
void	setlambdaInitial (double value)
void	setlambdaLowerBound (double value)
void	setlambdaUpperBound (double value)
void	setUseFixedLambdaFactor (bool flag)
void	setLogFile (const std::string &s)
void	setVerbosityLM (const std::string &s)
std::shared_ptr< NonlinearOptimizerParams >	clone () const
Public Member Functions inherited from gtsam::NonlinearOptimizerParams
size_t	getMaxIterations () const
double	getRelativeErrorTol () const
double	getAbsoluteErrorTol () const
double	getErrorTol () const
std::string	getVerbosity () const
void	setMaxIterations (int value)
void	setRelativeErrorTol (double value)
void	setAbsoluteErrorTol (double value)
void	setErrorTol (double value)
void	setVerbosity (const std::string &src)
bool	equals (const NonlinearOptimizerParams &other, double tol=1e-9) const
bool	isMultifrontal () const
bool	isSequential () const
bool	isCholmod () const
bool	isIterative () const
bool	requiresOrdering () const
	Return whether this solver needs a variable-elimination ordering.
GaussianFactorGraph::Eliminate	getEliminationFunction () const
std::string	getLinearSolverType () const
LinearSolverType	getLinearSolver () const
	Return the selected linear solver as a strongly typed value.
void	setLinearSolverType (const std::string &solver)
void	setLinearSolver (LinearSolverType solver)
	Select the linear solver using the public enum.
void	setIterativeParams (const std::shared_ptr< IterativeOptimizationParameters > params)
void	setOrdering (const Ordering &ordering)
std::string	getOrderingType () const
void	setOrderingType (const std::string &ordering)

Static Public Member Functions
static SfmLevenbergMarquardtParams	legacyDefaults ()
	Return parameters initialized with GTSAM's legacy LM defaults.
static SfmLevenbergMarquardtParams	ceresDefaults ()
	Return parameters initialized with GTSAM's Ceres-style LM defaults.
Static Public Member Functions inherited from gtsam::LevenbergMarquardtParams
static VerbosityLM	verbosityLMTranslator (const std::string &s)
static std::string	verbosityLMTranslator (VerbosityLM value)
static void	SetLegacyDefaults (LevenbergMarquardtParams *p)
static void	SetCeresDefaults (LevenbergMarquardtParams *p)
static LevenbergMarquardtParams	LegacyDefaults ()
static LevenbergMarquardtParams	CeresDefaults ()
static LevenbergMarquardtParams	EnsureHasOrdering (LevenbergMarquardtParams params, const NonlinearFactorGraph &graph)
static LevenbergMarquardtParams	ReplaceOrdering (LevenbergMarquardtParams params, const Ordering &ord)
Static Public Member Functions inherited from gtsam::NonlinearOptimizerParams
static Verbosity	verbosityTranslator (const std::string &s)
static std::string	verbosityTranslator (Verbosity value)

Public Attributes
SfmEliminationMode	eliminationMode = SfmEliminationMode::Full
	Point-elimination policy. CPU SFM optimization defaults to Full.
Public Attributes inherited from gtsam::LevenbergMarquardtParams
double	lambdaInitial
	The initial Levenberg-Marquardt damping term (default: 1e-5).
double	lambdaFactor
	The amount by which to multiply or divide lambda when adjusting lambda (default: 10.0).
double	lambdaUpperBound
	The maximum lambda to try before assuming the optimization has failed (default: 1e5).
double	lambdaLowerBound
	The minimum lambda used in LM (default: 0).
VerbosityLM	verbosityLM
	The verbosity level for Levenberg-Marquardt (default: SILENT), see also NonlinearOptimizerParams::verbosity.
double	minModelFidelity
	Lower bound for the modelFidelity to accept the result of an LM iteration.
std::string	logFile
	an optional CSV log file, with [iteration, time, error, lambda]
bool	useFixedLambdaFactor
	if true applies constant increase (or decrease) to lambda according to lambdaFactor
LMDampingParams	dampingParams
	Parameters controlling LM damping behavior (legacy and MULTIFRONTAL_SOLVER).
Public Attributes inherited from gtsam::NonlinearOptimizerParams
size_t	maxIterations = 100
	The maximum iterations to stop iterating (default 100).
double	relativeErrorTol = 1e-5
	The maximum relative error decrease to stop iterating (default 1e-5).
double	absoluteErrorTol = 1e-5
	The maximum absolute error decrease to stop iterating (default 1e-5).
double	errorTol = 0.0
	The maximum total error to stop iterating (default 0.0).
Verbosity	verbosity = SILENT
	The printing verbosity during optimization (default SILENT).
Ordering::OrderingType	orderingType = Ordering::COLAMD
	The method of ordering use during variable elimination (default COLAMD).
IterationHook	iterationHook
	Optional user-provided iteration hook to be called after each optimization iteration (Default: none).
std::optional< Ordering >	ordering
	The optional variable elimination ordering, or empty to use COLAMD (default: empty).
IterativeOptimizationParameters::shared_ptr	iterativeParams
	The container for iterativeOptimization parameters.
LinearSolverType	linearSolverType = MULTIFRONTAL_CHOLESKY
	Parameters for gtsam::MultifrontalSolver when using MULTIFRONTAL_SOLVER.
MultifrontalParameters	multifrontalParams

Public Types
using	OptimizerType = SfmLevenbergMarquardtOptimizer
Public Types inherited from gtsam::LevenbergMarquardtParams
enum	VerbosityLM { SILENT = 0 , SUMMARY , TERMINATION , LAMBDA , TRYLAMBDA , TRYCONFIG , DAMPED , TRYDELTA }
	See LevenbergMarquardtParams::verbosityLM.
using	OptimizerType = LevenbergMarquardtOptimizer
Public Types inherited from gtsam::NonlinearOptimizerParams
enum	Verbosity { SILENT , TERMINATION , ERROR , VALUES , DELTA , LINEAR }
	See NonlinearOptimizerParams::verbosity.
enum	LinearSolverType { MULTIFRONTAL_SOLVER , MULTIFRONTAL_CHOLESKY , MULTIFRONTAL_QR , SEQUENTIAL_CHOLESKY , SEQUENTIAL_QR , Iterative , CHOLMOD }
	See NonlinearOptimizerParams::linearSolverType.
using	IterationHook
	Type for an optional user-provided hook to be called after each internal optimizer iteration.

Member Function Documentation

◆ print()

void gtsam::SfmLevenbergMarquardtParams::print ( const std::string & str = "" ) const

overridevirtual

Reimplemented from gtsam::LevenbergMarquardtParams.

The documentation for this class was generated from the following files:

/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/sfm/SfmLevenbergMarquardt.h
/tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/sfm/SfmLevenbergMarquardt.cpp

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Public Types

Member Function Documentation

◆ print()