commit b16e118b96c55451c0d8556f3c5b52ad36b69cac
author Sameer Agarwal <sameeragarwal@google.com> Mon Nov 25 05:47:43 2013 -0800
committer Sameer Agarwal <sameeragarwal@google.com> Tue Nov 26 10:00:03 2013 -0800
tree 2d5322d2f9fafde0a298e95356f70962acc57957
parent 5794d41be2d8d6a67dcdfe607e66050f0ac04c55

Better error checking and reporting for linear solvers.

A lot of error checking cruft has accumulated over the years
in the various linear solvers. This change makes the error reporting
more robust and consistent across the various solvers.

Preconditioners are not covered by this change and will be the
subject of a future change.

Change-Id: Ibeb2572a1e67758953dde8d12e3abc6d1df9052d

internal/ceres/covariance_impl.cc

diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
index 6fe7a80..6c79fa5 100644
--- a/internal/ceres/covariance_impl.cc
+++ b/internal/ceres/covariance_impl.cc
@@ -165,9 +165,9 @@
   }
 
   if (offset == row_size) {
-    LOG(WARNING) << "Unable to find covariance block for "
-                 << original_parameter_block1 << " "
-                 << original_parameter_block2;
+    LOG(ERROR) << "Unable to find covariance block for "
+               << original_parameter_block1 << " "
+               << original_parameter_block2;
     return false;
   }
 
@@ -441,18 +441,24 @@
   cholmod_jacobian_view.sorted = 1;
   cholmod_jacobian_view.packed = 1;
 
-  cholmod_factor* factor = ss.AnalyzeCholesky(&cholmod_jacobian_view);
+  string status;
+  cholmod_factor* factor = ss.AnalyzeCholesky(&cholmod_jacobian_view, &status);
   event_logger.AddEvent("Symbolic Factorization");
   if (factor == NULL) {
+    LOG(ERROR) << "Covariance estimation failed. "
+               << "CHOLMOD symbolic cholesky factorization returned with: "
+               << status;
     return false;
   }
 
   LinearSolverTerminationType termination_type =
-      ss.Cholesky(&cholmod_jacobian_view, factor);
+      ss.Cholesky(&cholmod_jacobian_view, factor, &status);
   event_logger.AddEvent("Numeric Factorization");
-
   if (termination_type != TOLERANCE) {
-    LOG(WARNING) << "Cholesky factorization failed.";
+    LOG(ERROR) << "Covariance estimation failed. "
+               << "CHOLMOD numeric cholesky factorization returned with: "
+               << status;
+    ss.Free(factor);
     return false;
   }
 
@@ -461,11 +467,11 @@
 
   if (reciprocal_condition_number <
       options_.min_reciprocal_condition_number) {
-    LOG(WARNING) << "Cholesky factorization of J'J is not reliable. "
-                 << "Reciprocal condition number: "
-                 << reciprocal_condition_number << " "
-                 << "min_reciprocal_condition_number : "
-                 << options_.min_reciprocal_condition_number;
+    LOG(ERROR) << "Cholesky factorization of J'J is not reliable. "
+               << "Reciprocal condition number: "
+               << reciprocal_condition_number << " "
+               << "min_reciprocal_condition_number : "
+               << options_.min_reciprocal_condition_number;
     ss.Free(factor);
     return false;
   }
@@ -687,9 +693,9 @@
   CHECK_NOTNULL(R);
 
   if (rank < cholmod_jacobian.ncol) {
-    LOG(WARNING) << "Jacobian matrix is rank deficient."
-                 << "Number of columns: " << cholmod_jacobian.ncol
-                 << " rank: " << rank;
+    LOG(ERROR) << "Jacobian matrix is rank deficient. "
+               << "Number of columns: " << cholmod_jacobian.ncol
+               << " rank: " << rank;
     free(permutation);
     cholmod_l_free_sparse(&R, &cc);
     cholmod_l_finish(&cc);
@@ -813,11 +819,11 @@
       if (automatic_truncation) {
         break;
       } else {
-        LOG(WARNING) << "Cholesky factorization of J'J is not reliable. "
-                     << "Reciprocal condition number: "
-                     << singular_value_ratio * singular_value_ratio << " "
-                     << "min_reciprocal_condition_number : "
-                     << options_.min_reciprocal_condition_number;
+        LOG(ERROR) << "Cholesky factorization of J'J is not reliable. "
+                   << "Reciprocal condition number: "
+                   << singular_value_ratio * singular_value_ratio << " "
+                   << "min_reciprocal_condition_number : "
+                   << options_.min_reciprocal_condition_number;
         return false;
       }
     }