commit 79bde35f29291cf464b59f3dc2dd9f1fa88776a9
author Sameer Agarwal <sameeragarwal@google.com> Thu Nov 21 21:33:51 2013 -0800
committer Sameer Agarwal <sameeragarwal@google.com> Thu Nov 21 22:16:24 2013 -0800
tree 3c9daf5901e2249e3bae63eb47f65bbab5d1db68
parent a674e0f8534ea6948f70a72fe9718e07b3d039ff

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

internal/ceres/visibility_based_preconditioner.h

diff --git a/internal/ceres/visibility_based_preconditioner.h b/internal/ceres/visibility_based_preconditioner.h
index c58b1a7..70cea83 100644
--- a/internal/ceres/visibility_based_preconditioner.h
+++ b/internal/ceres/visibility_based_preconditioner.h
@@ -55,6 +55,7 @@
 #include "ceres/graph.h"
 #include "ceres/internal/macros.h"
 #include "ceres/internal/scoped_ptr.h"
+#include "ceres/linear_solver.h"
 #include "ceres/preconditioner.h"
 #include "ceres/suitesparse.h"
 
@@ -147,7 +148,7 @@
   void ComputeClusterTridiagonalSparsity(const CompressedRowBlockStructure& bs);
   void InitStorage(const CompressedRowBlockStructure& bs);
   void InitEliminator(const CompressedRowBlockStructure& bs);
-  bool Factorize();
+  LinearSolverTerminationType Factorize();
   void ScaleOffDiagonalCells();
 
   void ClusterCameras(const vector< set<int> >& visibility);