diff options
Diffstat (limited to 'internal/ceres/minimizer.h')
| -rw-r--r-- | internal/ceres/minimizer.h | 69 |
1 files changed, 59 insertions, 10 deletions
diff --git a/internal/ceres/minimizer.h b/internal/ceres/minimizer.h index 22c10f0..622e9ce 100644 --- a/internal/ceres/minimizer.h +++ b/internal/ceres/minimizer.h @@ -31,9 +31,11 @@ #ifndef CERES_INTERNAL_MINIMIZER_H_ #define CERES_INTERNAL_MINIMIZER_H_ +#include <string> #include <vector> -#include "ceres/solver.h" +#include "ceres/internal/port.h" #include "ceres/iteration_callback.h" +#include "ceres/solver.h" namespace ceres { namespace internal { @@ -72,28 +74,56 @@ class Minimizer { use_nonmonotonic_steps = options.use_nonmonotonic_steps; max_consecutive_nonmonotonic_steps = options.max_consecutive_nonmonotonic_steps; - lsqp_dump_directory = options.lsqp_dump_directory; - lsqp_iterations_to_dump = options.lsqp_iterations_to_dump; - lsqp_dump_format_type = options.lsqp_dump_format_type; + trust_region_problem_dump_directory = + options.trust_region_problem_dump_directory; + trust_region_minimizer_iterations_to_dump = + options.trust_region_minimizer_iterations_to_dump; + trust_region_problem_dump_format_type = + options.trust_region_problem_dump_format_type; max_num_consecutive_invalid_steps = options.max_num_consecutive_invalid_steps; min_trust_region_radius = options.min_trust_region_radius; + line_search_direction_type = options.line_search_direction_type; + line_search_type = options.line_search_type; + nonlinear_conjugate_gradient_type = + options.nonlinear_conjugate_gradient_type; + max_lbfgs_rank = options.max_lbfgs_rank; + use_approximate_eigenvalue_bfgs_scaling = + options.use_approximate_eigenvalue_bfgs_scaling; + line_search_interpolation_type = + options.line_search_interpolation_type; + min_line_search_step_size = options.min_line_search_step_size; + line_search_sufficient_function_decrease = + options.line_search_sufficient_function_decrease; + max_line_search_step_contraction = + options.max_line_search_step_contraction; + min_line_search_step_contraction = + options.min_line_search_step_contraction; + max_num_line_search_step_size_iterations = + options.max_num_line_search_step_size_iterations; + max_num_line_search_direction_restarts = + options.max_num_line_search_direction_restarts; + line_search_sufficient_curvature_decrease = + options.line_search_sufficient_curvature_decrease; + max_line_search_step_expansion = + options.max_line_search_step_expansion; evaluator = NULL; trust_region_strategy = NULL; jacobian = NULL; callbacks = options.callbacks; inner_iteration_minimizer = NULL; + inner_iteration_tolerance = options.inner_iteration_tolerance; } int max_num_iterations; double max_solver_time_in_seconds; + int num_threads; // Number of times the linear solver should be retried in case of // numerical failure. The retries are done by exponentially scaling up // mu at each retry. This leads to stronger and stronger // regularization making the linear least squares problem better // conditioned at each retry. - int num_threads; int max_step_solver_retries; double gradient_tolerance; double parameter_tolerance; @@ -103,11 +133,26 @@ class Minimizer { bool jacobi_scaling; bool use_nonmonotonic_steps; int max_consecutive_nonmonotonic_steps; - vector<int> lsqp_iterations_to_dump; - DumpFormatType lsqp_dump_format_type; - string lsqp_dump_directory; + vector<int> trust_region_minimizer_iterations_to_dump; + DumpFormatType trust_region_problem_dump_format_type; + string trust_region_problem_dump_directory; int max_num_consecutive_invalid_steps; - int min_trust_region_radius; + double min_trust_region_radius; + LineSearchDirectionType line_search_direction_type; + LineSearchType line_search_type; + NonlinearConjugateGradientType nonlinear_conjugate_gradient_type; + int max_lbfgs_rank; + bool use_approximate_eigenvalue_bfgs_scaling; + LineSearchInterpolationType line_search_interpolation_type; + double min_line_search_step_size; + double line_search_sufficient_function_decrease; + double max_line_search_step_contraction; + double min_line_search_step_contraction; + int max_num_line_search_step_size_iterations; + int max_num_line_search_direction_restarts; + double line_search_sufficient_curvature_decrease; + double max_line_search_step_expansion; + // List of callbacks that are executed by the Minimizer at the end // of each iteration. @@ -131,10 +176,14 @@ class Minimizer { SparseMatrix* jacobian; Minimizer* inner_iteration_minimizer; + double inner_iteration_tolerance; }; - virtual ~Minimizer() {} + static bool RunCallbacks(const vector<IterationCallback*> callbacks, + const IterationSummary& iteration_summary, + Solver::Summary* summary); + virtual ~Minimizer(); // Note: The minimizer is expected to update the state of the // parameters array every iteration. This is required for the // StateUpdatingCallback to work. |