mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
8bfdb02fb1
VLOG_IF's evaluation order is ambiguous - does it mean `if (cond) VLOG(lvl)` or `if (VLOG_IS_ON(lvl) && cond) LOG(INFO)`? In particular, the way it works now is inconsistent with the way the rest of the LOG macros evaluate their arguments. Fixing this would be hard, and the macro's behavior would still surprise some people. Replacing it with an if statement is simple, clear, and unambiguous. Change-Id: I97a92d17a932c0a5344a1bf98d676308793ba877
92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#include "ceres/minimizer.h"
|
|
|
|
#include "ceres/line_search_minimizer.h"
|
|
#include "ceres/trust_region_minimizer.h"
|
|
#include "ceres/types.h"
|
|
#include "glog/logging.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
Minimizer* Minimizer::Create(MinimizerType minimizer_type) {
|
|
if (minimizer_type == TRUST_REGION) {
|
|
return new TrustRegionMinimizer;
|
|
}
|
|
|
|
if (minimizer_type == LINE_SEARCH) {
|
|
return new LineSearchMinimizer;
|
|
}
|
|
|
|
LOG(FATAL) << "Unknown minimizer_type: " << minimizer_type;
|
|
return NULL;
|
|
}
|
|
|
|
Minimizer::~Minimizer() {}
|
|
|
|
bool Minimizer::RunCallbacks(const Minimizer::Options& options,
|
|
const IterationSummary& iteration_summary,
|
|
Solver::Summary* summary) {
|
|
const bool is_not_silent = !options.is_silent;
|
|
CallbackReturnType status = SOLVER_CONTINUE;
|
|
int i = 0;
|
|
while (status == SOLVER_CONTINUE && i < options.callbacks.size()) {
|
|
status = (*options.callbacks[i])(iteration_summary);
|
|
++i;
|
|
}
|
|
switch (status) {
|
|
case SOLVER_CONTINUE:
|
|
return true;
|
|
case SOLVER_TERMINATE_SUCCESSFULLY:
|
|
summary->termination_type = USER_SUCCESS;
|
|
summary->message =
|
|
"User callback returned SOLVER_TERMINATE_SUCCESSFULLY.";
|
|
if (is_not_silent) {
|
|
VLOG(1) << "Terminating: " << summary->message;
|
|
}
|
|
return false;
|
|
case SOLVER_ABORT:
|
|
summary->termination_type = USER_FAILURE;
|
|
summary->message = "User callback returned SOLVER_ABORT.";
|
|
if (is_not_silent) {
|
|
VLOG(1) << "Terminating: " << summary->message;
|
|
}
|
|
return false;
|
|
default:
|
|
LOG(FATAL) << "Unknown type of user callback status";
|
|
}
|
|
return false;
|
|
}
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|