MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/solver_utils.h
2019-01-03 16:25:18 +08:00

62 lines
2.6 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 <algorithm>
#include <string>
#include "ceres/iteration_callback.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
template <typename SummaryType>
bool IsSolutionUsable(const SummaryType& summary) {
return (summary.termination_type == CONVERGENCE ||
summary.termination_type == NO_CONVERGENCE ||
summary.termination_type == USER_SUCCESS);
}
template <typename SummaryType>
void SetSummaryFinalCost(SummaryType* summary) {
summary->final_cost = summary->initial_cost;
// We need the loop here, instead of just looking at the last
// iteration because the minimizer maybe making non-monotonic steps.
for (int i = 0; i < summary->iterations.size(); ++i) {
const IterationSummary& iteration_summary = summary->iterations[i];
summary->final_cost = std::min(iteration_summary.cost, summary->final_cost);
}
}
std::string VersionString();
} // namespace internal
} // namespace ceres