Deal with infinite initial cost correctly.

Previously it could be the case that a residual block could return
a residual whose squared norm overflows and generates an infinity
which we did not detect. This would then lead to the trust region
minimizer incorrectly terminating indicating convergence while
generating a cost delta of NaN.

This change adds a check for that and also does two minor cosmetic

1. Reduce the level of nesting in program_evaluator.h by adding
   an early return.
2. The error message when IterationZero fails now says that the
   Initial residual and Jacobian failed, to indicate that the
   optimizer had no chance to do any work.


Thanks to @Ashray-g for reporting this.

Change-Id: I52ae7627a66f637135209dbb2e42935b52c8bc77
3 files changed
tree: 1d11c843d71195b53a0e6d64802ca5e06cf58b43
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. scripts/
  11. .clang-format
  12. .gitignore
  13. BUILD
  14. CITATION.cff
  15. CMakeLists.txt
  18. package.xml

Android Linux macOS Windows

Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see for more information.