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Better error handling in bundle_adjuster.cc

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This commit is contained in:
Keir Mierle
2012-05-07 04:33:50 -07:00
parent 39efc5ec4b
commit 211812a573
1 changed files with 19 additions and 5 deletions
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examples/bundle_adjuster.cc
+19 -5
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@@ -75,7 +75,9 @@ DEFINE_string(preconditioner_type, "jacobi", "Options are: "
DEFINE_int32(num_iterations, 5, "Number of iterations");
DEFINE_int32(num_threads, 1, "Number of threads");
DEFINE_double(eta, 1e-2, "Default value for eta.");
DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
"accuracy of each linear solve of the truncated newton step. "
"Changing this parameter can affect solve performance ");
DEFINE_bool(use_schur_ordering, false, "Use automatic Schur ordering.");
DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
"rotations. If false, angle axis is used");
@@ -99,7 +101,7 @@ void SetLinearSolver(Solver::Options* options) {
options->linear_solver_type = ceres::CONJUGATE_GRADIENTS;
} else if (FLAGS_solver_type == "dense_qr") {
// DENSE_QR is included here for completeness, but actually using
// this opttion is a bad idea due to the amount of memory needed
// this option is a bad idea due to the amount of memory needed
// to store even the smallest of the bundle adjustment jacobian
// arrays
options->linear_solver_type = ceres::DENSE_QR;
@@ -108,8 +110,20 @@ void SetLinearSolver(Solver::Options* options) {
<< FLAGS_solver_type;
}
if (options->linear_solver_type == ceres::ITERATIVE_SCHUR ||
options->linear_solver_type == ceres::CONJUGATE_GRADIENTS) {
if (options->linear_solver_type == ceres::CONJUGATE_GRADIENTS) {
options->linear_solver_min_num_iterations = 5;
if (FLAGS_preconditioner_type == "identity") {
options->preconditioner_type = ceres::IDENTITY;
} else if (FLAGS_preconditioner_type == "jacobi") {
options->preconditioner_type = ceres::JACOBI;
} else {
LOG(FATAL) << "For CONJUGATE_GRADIENTS, only identity and jacobian "
<< "preconditioners are supported. Got: "
<< FLAGS_preconditioner_type;
}
}
if (options->linear_solver_type == ceres::ITERATIVE_SCHUR) {
options->linear_solver_min_num_iterations = 5;
if (FLAGS_preconditioner_type == "identity") {
options->preconditioner_type = ceres::IDENTITY;
@@ -123,7 +137,7 @@ void SetLinearSolver(Solver::Options* options) {
options->preconditioner_type = ceres::CLUSTER_TRIDIAGONAL;
} else {
LOG(FATAL) << "Unknown ceres preconditioner type: "
<< FLAGS_preconditioner_type;
<< FLAGS_preconditioner_type;
}
}