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Problem::Evaluate implementation.

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1. Add Problem::Evaluate and tests.
2. Remove Solver::Summary::initial/final_*
3. Remove Solver::Options::return_* members.
4. Various cpplint cleanups.

Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47
This commit is contained in:
Sameer Agarwal
2013-02-20 01:39:03 -08:00
committed by Gerrit Code Review
parent d4a0bf86d6
commit 509f68cfe3
79 changed files with 1383 additions and 578 deletions
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include/ceres/solver.h
-62
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@@ -110,12 +110,6 @@ class Solver {
jacobi_scaling = true;
logging_type = PER_MINIMIZER_ITERATION;
minimizer_progress_to_stdout = false;
return_initial_residuals = false;
return_initial_gradient = false;
return_initial_jacobian = false;
return_final_residuals = false;
return_final_gradient = false;
return_final_jacobian = false;
lsqp_dump_directory = "/tmp";
lsqp_dump_format_type = TEXTFILE;
check_gradients = false;
@@ -481,14 +475,6 @@ class Solver {
// is sent to STDOUT.
bool minimizer_progress_to_stdout;
bool return_initial_residuals;
bool return_initial_gradient;
bool return_initial_jacobian;
bool return_final_residuals;
bool return_final_gradient;
bool return_final_jacobian;
// List of iterations at which the optimizer should dump the
// linear least squares problem to disk. Useful for testing and
// benchmarking. If empty (default), no problems are dumped.
@@ -596,54 +582,6 @@ class Solver {
// blocks that they depend on were fixed.
double fixed_cost;
// Vectors of residuals before and after the optimization. The
// entries of these vectors are in the order in which
// ResidualBlocks were added to the Problem object.
//
// Whether the residual vectors are populated with values is
// controlled by Solver::Options::return_initial_residuals and
// Solver::Options::return_final_residuals respectively.
vector<double> initial_residuals;
vector<double> final_residuals;
// Gradient vectors, before and after the optimization. The rows
// are in the same order in which the ParameterBlocks were added
// to the Problem object.
//
// NOTE: Since AddResidualBlock adds ParameterBlocks to the
// Problem automatically if they do not already exist, if you wish
// to have explicit control over the ordering of the vectors, then
// use Problem::AddParameterBlock to explicitly add the
// ParameterBlocks in the order desired.
//
// Whether the vectors are populated with values is controlled by
// Solver::Options::return_initial_gradient and
// Solver::Options::return_final_gradient respectively.
vector<double> initial_gradient;
vector<double> final_gradient;
// Jacobian matrices before and after the optimization. The rows
// of these matrices are in the same order in which the
// ResidualBlocks were added to the Problem object. The columns
// are in the same order in which the ParameterBlocks were added
// to the Problem object.
//
// NOTE: Since AddResidualBlock adds ParameterBlocks to the
// Problem automatically if they do not already exist, if you wish
// to have explicit control over the column ordering of the
// matrix, then use Problem::AddParameterBlock to explicitly add
// the ParameterBlocks in the order desired.
//
// The Jacobian matrices are stored as compressed row sparse
// matrices. Please see ceres/crs_matrix.h for more details of the
// format.
//
// Whether the Jacboan matrices are populated with values is
// controlled by Solver::Options::return_initial_jacobian and
// Solver::Options::return_final_jacobian respectively.
CRSMatrix initial_jacobian;
CRSMatrix final_jacobian;
vector<IterationSummary> iterations;
int num_successful_steps;