diff options
Diffstat (limited to 'internal/ceres/dense_normal_cholesky_solver.cc')
| -rw-r--r-- | internal/ceres/dense_normal_cholesky_solver.cc | 28 |
1 files changed, 19 insertions, 9 deletions
diff --git a/internal/ceres/dense_normal_cholesky_solver.cc b/internal/ceres/dense_normal_cholesky_solver.cc index fbf3cbe..f44d6da 100644 --- a/internal/ceres/dense_normal_cholesky_solver.cc +++ b/internal/ceres/dense_normal_cholesky_solver.cc @@ -95,9 +95,19 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingEigen( LinearSolver::Summary summary; summary.num_iterations = 1; - summary.termination_type = TOLERANCE; - VectorRef(x, num_cols) = - lhs.selfadjointView<Eigen::Upper>().llt().solve(rhs); + summary.termination_type = LINEAR_SOLVER_SUCCESS; + Eigen::LLT<Matrix, Eigen::Upper> llt = + lhs.selfadjointView<Eigen::Upper>().llt(); + + if (llt.info() != Eigen::Success) { + summary.termination_type = LINEAR_SOLVER_FAILURE; + summary.message = "Eigen LLT decomposition failed."; + } else { + summary.termination_type = LINEAR_SOLVER_SUCCESS; + summary.message = "Success."; + } + + VectorRef(x, num_cols) = llt.solve(rhs); event_logger.AddEvent("Solve"); return summary; } @@ -142,14 +152,14 @@ LinearSolver::Summary DenseNormalCholeskySolver::SolveUsingLAPACK( A->matrix().transpose() * ConstVectorRef(b, A->num_rows()); event_logger.AddEvent("Product"); - const int info = LAPACK::SolveInPlaceUsingCholesky(num_cols, lhs.data(), x); - event_logger.AddEvent("Solve"); - LinearSolver::Summary summary; summary.num_iterations = 1; - summary.termination_type = info == 0 ? TOLERANCE : FAILURE; - - event_logger.AddEvent("TearDown"); + summary.termination_type = + LAPACK::SolveInPlaceUsingCholesky(num_cols, + lhs.data(), + x, + &summary.message); + event_logger.AddEvent("Solve"); return summary; } } // namespace internal |