1 files changed, 56 insertions, 20 deletions

diff --git a/internal/ceres/lapack.cc b/internal/ceres/lapack.cc
index 73bfa69..e124d75 100644
--- a/internal/ceres/lapack.cc
+++ b/internal/ceres/lapack.cc
@@ -29,6 +29,9 @@
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 
 #include "ceres/lapack.h"
+
+#include "ceres/internal/port.h"
+#include "ceres/linear_solver.h"
 #include "glog/logging.h"
 
 // C interface to the LAPACK Cholesky factorization and triangular solve.
@@ -63,12 +66,14 @@ extern "C" void dgels_(char* uplo,
 namespace ceres {
 namespace internal {
 
-int LAPACK::SolveInPlaceUsingCholesky(int num_rows,
-                                      const double* in_lhs,
-                                      double* rhs_and_solution) {
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingCholesky(
+    int num_rows,
+    const double* in_lhs,
+    double* rhs_and_solution,
+    string* message) {
 #ifdef CERES_NO_LAPACK
   LOG(FATAL) << "Ceres was built without a BLAS library.";
-  return -1;
+  return LINEAR_SOLVER_FATAL_ERROR;
 #else
   char uplo = 'L';
   int n = num_rows;
@@ -77,17 +82,33 @@ int LAPACK::SolveInPlaceUsingCholesky(int num_rows,
   double* lhs = const_cast<double*>(in_lhs);
 
   dpotrf_(&uplo, &n, lhs, &n, &info);
-  if (info != 0) {
-    LOG(INFO) << "Cholesky factorization (dpotrf) failed: " << info;
-    return info;
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dpotrf fatal error."
+               << "Argument: " << -info << " is invalid.";
+    return LINEAR_SOLVER_FATAL_ERROR;
+  }
+
+  if (info > 0) {
+    *message =
+        StringPrintf(
+            "LAPACK::dpotrf numerical failure. "
+             "The leading minor of order %d is not positive definite.", info);
+    return LINEAR_SOLVER_FAILURE;
   }
 
   dpotrs_(&uplo, &n, &nrhs, lhs, &n, rhs_and_solution, &n, &info);
-  if (info != 0) {
-    LOG(INFO) << "Triangular solve (dpotrs) failed: " << info;
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dpotrs fatal error."
+               << "Argument: " << -info << " is invalid.";
+    return LINEAR_SOLVER_FATAL_ERROR;
   }
 
-  return info;
+  *message = "Success";
+  return LINEAR_SOLVER_SUCCESS;
 #endif
 };
 
@@ -113,20 +134,27 @@ int LAPACK::EstimateWorkSizeForQR(int num_rows, int num_cols) {
          &lwork,
          &info);
 
-  CHECK_EQ(info, 0);
-  return work;
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dgels fatal error."
+               << "Argument: " << -info << " is invalid.";
+  }
+  return static_cast<int>(work);
 #endif
 }
 
-int LAPACK::SolveUsingQR(int num_rows,
-                         int num_cols,
-                         const double* in_lhs,
-                         int work_size,
-                         double* work,
-                         double* rhs_and_solution) {
+LinearSolverTerminationType LAPACK::SolveInPlaceUsingQR(
+    int num_rows,
+    int num_cols,
+    const double* in_lhs,
+    int work_size,
+    double* work,
+    double* rhs_and_solution,
+    string* message) {
 #ifdef CERES_NO_LAPACK
   LOG(FATAL) << "Ceres was built without a LAPACK library.";
-  return -1;
+  return LINEAR_SOLVER_FATAL_ERROR;
 #else
   char trans = 'N';
   int m = num_rows;
@@ -149,7 +177,15 @@ int LAPACK::SolveUsingQR(int num_rows,
          &work_size,
          &info);
 
-  return info;
+  if (info < 0) {
+    LOG(FATAL) << "Congratulations, you found a bug in Ceres."
+               << "Please report it."
+               << "LAPACK::dgels fatal error."
+               << "Argument: " << -info << " is invalid.";
+  }
+
+  *message = "Success.";
+  return LINEAR_SOLVER_SUCCESS;
 #endif
 }