62 lines
2.6 KiB
C
62 lines
2.6 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include <algorithm>
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#include <string>
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#include "ceres/iteration_callback.h"
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#include "ceres/types.h"
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namespace ceres {
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namespace internal {
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template <typename SummaryType>
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bool IsSolutionUsable(const SummaryType& summary) {
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return (summary.termination_type == CONVERGENCE ||
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summary.termination_type == NO_CONVERGENCE ||
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summary.termination_type == USER_SUCCESS);
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}
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template <typename SummaryType>
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void SetSummaryFinalCost(SummaryType* summary) {
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summary->final_cost = summary->initial_cost;
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// We need the loop here, instead of just looking at the last
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// iteration because the minimizer maybe making non-monotonic steps.
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for (int i = 0; i < summary->iterations.size(); ++i) {
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const IterationSummary& iteration_summary = summary->iterations[i];
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summary->final_cost = std::min(iteration_summary.cost, summary->final_cost);
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}
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}
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std::string VersionString();
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} // namespace internal
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} // namespace ceres
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