saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 16:40:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

SuiteSparse errors do not cause a fatal crash.

Browse Source 
1. Move LinearSolverTerminationType to ceres::internal.
2. Add FATAL_ERROR as a new enum to LinearSolverTerminationType.
3. Pipe SuiteSparse errors via a LinearSolverTerminationType so
   to distinguish between fatal and non-fatal errors.
4. Update levenberg marquardt and dogleg strategies to deal
   with FATAL_ERROR.
5. Update trust_region_minimizer to terminate when FATAL_ERROR
   is encountered.
6. Remove SuiteSparse::SolveCholesky as it screws up the error
   handling.
7. Fix all clients calling SuiteSparse to handle the result of
   SuiteSparse::Cholesky correctly.
8. Remove fatal failures in SuiteSparse when symbolic factorization
   fails.
9. Fix all clients of SuiteSparse to deal with null symbolic factors.

This is a temporary fix to deal with some production problems. A more
extensive cleanup and testing regime will be put in place in a
subsequent CL.

Change-Id: I1f60d539799dd95db7ecc340911e261fa4824f92
This commit is contained in:
Sameer Agarwal
2013-11-21 21:33:51 -08:00
parent a674e0f853
commit 79bde35f29
15 changed files with 188 additions and 140 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/sparse_normal_cholesky_solver.cc
+27 -11
View File
@@ -195,34 +195,50 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
VectorRef(x, num_cols).setZero();
cholmod_sparse lhs = ss_.CreateSparseMatrixTransposeView(A);
cholmod_dense* rhs = ss_.CreateDenseVector(Atb.data(), num_cols, num_cols);
event_logger.AddEvent("Setup");
if (factor_ == NULL) {
if (options_.use_postordering) {
factor_ =
CHECK_NOTNULL(ss_.BlockAnalyzeCholesky(&lhs,
A->col_blocks(),
A->row_blocks()));
factor_ = ss_.BlockAnalyzeCholesky(&lhs,
A->col_blocks(),
A->row_blocks());
} else {
factor_ =
CHECK_NOTNULL(ss_.AnalyzeCholeskyWithNaturalOrdering(&lhs));
factor_ = ss_.AnalyzeCholeskyWithNaturalOrdering(&lhs);
}
}
event_logger.AddEvent("Analysis");
cholmod_dense* sol = ss_.SolveCholesky(&lhs, factor_, rhs);
if (factor_ == NULL) {
if (per_solve_options.D != NULL) {
A->DeleteRows(num_cols);
}
summary.termination_type = FATAL_ERROR;
return summary;
}
const LinearSolverTerminationType status = ss_.Cholesky(&lhs, factor_);
if (status != TOLERANCE) {
if (per_solve_options.D != NULL) {
A->DeleteRows(num_cols);
}
summary.termination_type = FATAL_ERROR;
return summary;
}
cholmod_dense* rhs = ss_.CreateDenseVector(Atb.data(), num_cols, num_cols);
cholmod_dense* sol = ss_.Solve(factor_, rhs);
event_logger.AddEvent("Solve");
ss_.Free(rhs);
rhs = NULL;
if (per_solve_options.D != NULL) {
A->DeleteRows(num_cols);
}
summary.num_iterations = 1;
if (sol != NULL) {
memcpy(x, sol->x, num_cols * sizeof(*x));