SuiteSparse errors do not cause a fatal crash.
1. Move LinearSolverTerminationType to ceres::internal.
2. Add FATAL_ERROR as a new enum to LinearSolverTerminationType.
3. Pipe SuiteSparse errors via a LinearSolverTerminationType so
to distinguish between fatal and non-fatal errors.
4. Update levenberg marquardt and dogleg strategies to deal
with FATAL_ERROR.
5. Update trust_region_minimizer to terminate when FATAL_ERROR
is encountered.
6. Remove SuiteSparse::SolveCholesky as it screws up the error
handling.
7. Fix all clients calling SuiteSparse to handle the result of
SuiteSparse::Cholesky correctly.
8. Remove fatal failures in SuiteSparse when symbolic factorization
fails.
9. Fix all clients of SuiteSparse to deal with null symbolic factors.
This is a temporary fix to deal with some production problems. A more
extensive cleanup and testing regime will be put in place in a
subsequent CL.
Change-Id: I1f60d539799dd95db7ecc340911e261fa4824f92
diff --git a/internal/ceres/linear_solver.h b/internal/ceres/linear_solver.h
index b0ab80d..4af586a 100644
--- a/internal/ceres/linear_solver.h
+++ b/internal/ceres/linear_solver.h
@@ -50,6 +50,30 @@
namespace ceres {
namespace internal {
+enum LinearSolverTerminationType {
+ // Termination criterion was met. For factorization based solvers
+ // the tolerance is assumed to be zero. Any user provided values are
+ // ignored.
+ TOLERANCE,
+
+ // Solver ran for max_num_iterations and terminated before the
+ // termination tolerance could be satified.
+ MAX_ITERATIONS,
+
+ // Solver is stuck and further iterations will not result in any
+ // measurable progress.
+ STAGNATION,
+
+ // Solver failed. Solver was terminated due to numerical errors. The
+ // exact cause of failure depends on the particular solver being
+ // used.
+ FAILURE,
+
+ // Solver failed with a fatal error that cannot be recovered from.
+ FATAL_ERROR
+};
+
+
class LinearOperator;
// Abstract base class for objects that implement algorithms for
@@ -251,6 +275,7 @@
double residual_norm;
int num_iterations;
LinearSolverTerminationType termination_type;
+ string status;
};
virtual ~LinearSolver();
