saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Move EvaluationCallback from Solver::Options to Problem::Options.

Browse Source 
Adding it to Solver::Options was a mistake, as it prevents it from
being used in covariance estimation. Also updated associated docs.

https://github.com/ceres-solver/ceres-solver/issues/380
https://github.com/ceres-solver/ceres-solver/issues/401
https://github.com/ceres-solver/ceres-solver/issues/484

Change-Id: I63809a47a58e84c04a58bf8e59ace92f45fc2873
This commit is contained in:
Sameer Agarwal
2019-06-04 21:57:01 -07:00
parent 059bcb7f86
commit bf709ecac2
15 changed files with 393 additions and 246 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/evaluation_callback_test.cc
+4 -2
View File
@@ -35,6 +35,7 @@
#include <vector>
#include "gtest/gtest.h"
#include "ceres/evaluation_callback.h"
#include "ceres/sized_cost_function.h"
#include "ceres/problem.h"
#include "ceres/problem_impl.h"
@@ -193,6 +194,7 @@ TEST(EvaluationCallback, WithTrustRegionMinimizer) {
WigglyBowlCostFunctionAndEvaluationCallback cost_function(parameters);
Problem::Options problem_options;
problem_options.evaluation_callback = &cost_function;
problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
Problem problem(problem_options);
problem.AddResidualBlock(&cost_function, NULL, parameters);
@@ -200,7 +202,6 @@ TEST(EvaluationCallback, WithTrustRegionMinimizer) {
Solver::Options options;
options.linear_solver_type = DENSE_QR;
options.max_num_iterations = 300; // Cost function is hard.
options.evaluation_callback = &cost_function;
// Run the solve. Checking is done inside the cost function / callback.
Solver::Summary summary;
@@ -240,6 +241,7 @@ static void WithLineSearchMinimizerImpl(
WigglyBowlCostFunctionAndEvaluationCallback cost_function(parameters);
Problem::Options problem_options;
problem_options.evaluation_callback = &cost_function;
problem_options.cost_function_ownership = DO_NOT_TAKE_OWNERSHIP;
Problem problem(problem_options);
problem.AddResidualBlock(&cost_function, NULL, parameters);
@@ -248,7 +250,7 @@ static void WithLineSearchMinimizerImpl(
options.linear_solver_type = DENSE_QR;
options.max_num_iterations = 300; // Cost function is hard.
options.minimizer_type = ceres::LINE_SEARCH;
options.evaluation_callback = &cost_function;
options.line_search_type = line_search;
options.line_search_direction_type = line_search_direction;
options.line_search_interpolation_type = line_search_interpolation;