stop iterating based on the gain which is (oldChi - currentChi) / currentChi. More...

#include <sparse_optimizer_terminate_action.h>

Inheritance diagram for g2o::SparseOptimizerTerminateAction:

Collaboration diagram for g2o::SparseOptimizerTerminateAction:

Public Member Functions
	SparseOptimizerTerminateAction ()

virtual HyperGraphAction *	operator() (const HyperGraph graph, Parameters parameters=0)

double	gainThreshold () const

void	setGainThreshold (double gainThreshold)

int	maxIterations () const

void	setMaxIterations (int maxit)

Public Member Functions inherited from g2o::HyperGraphAction
virtual	~HyperGraphAction ()

Protected Member Functions
void	setOptimizerStopFlag (const SparseOptimizer *optimizer, bool stop)

Protected Attributes
double	_gainThreshold

double	_lastChi

bool	_auxTerminateFlag

int	_maxIterations

Detailed Description

stop iterating based on the gain which is (oldChi - currentChi) / currentChi.

stop iterating based on the gain which is (oldChi - currentChi) / currentChi. If the gain is larger than zero and below the threshold, then the optimizer is stopped. Typically usage of this action includes adding it as a postIteration action, by calling addPostIterationAction on a sparse optimizer.

Definition at line 47 of file sparse_optimizer_terminate_action.h.

Constructor & Destructor Documentation

◆ SparseOptimizerTerminateAction()

g2o::SparseOptimizerTerminateAction::SparseOptimizerTerminateAction ( )

Definition at line 36 of file sparse_optimizer_terminate_action.cpp.

    : HyperGraphAction(),
      _gainThreshold(cst(1e-6)),
      _lastChi(0),
      _auxTerminateFlag(false),
      _maxIterations(std::numeric_limits<int>::max()) {}

Member Function Documentation

◆ gainThreshold()

double g2o::SparseOptimizerTerminateAction::gainThreshold ( ) const

inline

Definition at line 53 of file sparse_optimizer_terminate_action.h.

53{ return _gainThreshold; }

Referenced by setGainThreshold().

◆ maxIterations()

int g2o::SparseOptimizerTerminateAction::maxIterations ( ) const

inline

Definition at line 56 of file sparse_optimizer_terminate_action.h.

56{ return _maxIterations; }

◆ operator()()

HyperGraphAction * g2o::SparseOptimizerTerminateAction::operator()	(	const HyperGraph *	graph,
		Parameters *	parameters = `0`
	)

virtual

re-implement to carry out an action given the graph

Reimplemented from g2o::HyperGraphAction.

Definition at line 47 of file sparse_optimizer_terminate_action.cpp.

                                                     {
  assert(dynamic_cast<const SparseOptimizer*>(graph) &&
         "graph is not a SparseOptimizer");
  assert(dynamic_cast<HyperGraphAction::ParametersIteration*>(parameters) &&
         "error casting parameters");
 
  const SparseOptimizer* optimizer = static_cast<const SparseOptimizer*>(graph);
  HyperGraphAction::ParametersIteration* params =
      static_cast<HyperGraphAction::ParametersIteration*>(parameters);
 
  const_cast<SparseOptimizer*>(optimizer)->computeActiveErrors();
  if (params->iteration < 0) {
    // let the optimizer run for at least one iteration
    // Hence, we reset the stop flag
    setOptimizerStopFlag(optimizer, false);
  } else if (params->iteration == 0) {
    // first iteration, just store the chi2 value
    _lastChi = optimizer->activeRobustChi2();
  } else {
    // compute the gain and stop the optimizer in case the
    // gain is below the threshold or we reached the max
    // number of iterations
    bool stopOptimizer = false;
    if (params->iteration < _maxIterations) {
      double currentChi = optimizer->activeRobustChi2();
      double gain = (_lastChi - currentChi) / currentChi;
      _lastChi = currentChi;
      if (gain >= 0 && gain < _gainThreshold) stopOptimizer = true;
    } else {
      stopOptimizer = true;
    }
    if (stopOptimizer) {  // tell the optimizer to stop
      setOptimizerStopFlag(optimizer, true);
    }
  }
  return this;
}

References _gainThreshold, _lastChi, _maxIterations, g2o::SparseOptimizer::activeRobustChi2(), g2o::HyperGraphAction::ParametersIteration::iteration, and setOptimizerStopFlag().

◆ setGainThreshold()

void g2o::SparseOptimizerTerminateAction::setGainThreshold ( double gainThreshold )

Definition at line 43 of file sparse_optimizer_terminate_action.cpp.

                                                                          {
  _gainThreshold = gainThreshold;
}

References _gainThreshold, and gainThreshold().

Referenced by main().

◆ setMaxIterations()

void g2o::SparseOptimizerTerminateAction::setMaxIterations ( int maxit )

Definition at line 86 of file sparse_optimizer_terminate_action.cpp.

                                                               {
  _maxIterations = maxit;
}

References _maxIterations.

Referenced by main().

◆ setOptimizerStopFlag()

void g2o::SparseOptimizerTerminateAction::setOptimizerStopFlag	(	const SparseOptimizer *	optimizer,
		bool	stop
	)

protected

Definition at line 90 of file sparse_optimizer_terminate_action.cpp.

                                                 {
  if (optimizer->forceStopFlag()) {
    *(optimizer->forceStopFlag()) = stop;
  } else {
    _auxTerminateFlag = stop;
    const_cast<SparseOptimizer*>(optimizer)->setForceStopFlag(
        &_auxTerminateFlag);
  }
}