Various cleanups to nist.cc.
More flexible testing.
Read and parse the certified cost value from the data file.
Remove the ugly hack for computing the certified cost.
Refactored the flags parsing logic
Change-Id: I8f2e6be183b758b2453302fcdc6696bfa0db5eb8
diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
index f5c1ac1..e5f9100 100644
--- a/examples/bundle_adjuster.cc
+++ b/examples/bundle_adjuster.cc
@@ -66,27 +66,30 @@
#include "snavely_reprojection_error.h"
DEFINE_string(input, "", "Input File name");
+DEFINE_string(trust_region_strategy, "levenberg_marquardt",
+ "Options are: levenberg_marquardt, dogleg");
+DEFINE_string(linear_solver, "sparse_schur", "Options are: "
+ "sparse_schur, dense_schur, iterative_schur, sparse_normal_cholesky, "
+ "dense_qr, dense_normal_cholesky and cgnr");
+DEFINE_string(preconditioner, "jacobi", "Options are: "
+ "identity, jacobi, schur_jacobi, cluster_jacobi, "
+ "cluster_tridiagonal");
+DEFINE_string(sparse_linear_algebra_library, "suite_sparse",
+ "Options are: suite_sparse and cx_sparse");
+DEFINE_string(ordering, "schur", "Options are: schur, user, natural");
+DEFINE_string(dogleg, "traditional_dogleg", "Options are: traditional_dogleg,"
+ "subspace_dogleg");
+
DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
"rotations. If false, angle axis is used");
DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
"parameterization.");
DEFINE_bool(robustify, false, "Use a robust loss function");
-DEFINE_string(trust_region_strategy, "lm", "Options are: lm, dogleg");
DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
"accuracy of each linear solve of the truncated newton step. "
"Changing this parameter can affect solve performance ");
-DEFINE_string(solver_type, "sparse_schur", "Options are: "
- "sparse_schur, dense_schur, iterative_schur, sparse_cholesky, "
- "dense_qr, dense_cholesky and conjugate_gradients");
-DEFINE_string(preconditioner_type, "jacobi", "Options are: "
- "identity, jacobi, schur_jacobi, cluster_jacobi, "
- "cluster_tridiagonal");
-DEFINE_string(sparse_linear_algebra_library, "suitesparse",
- "Options are: suitesparse and cxsparse");
-DEFINE_string(ordering_type, "schur", "Options are: schur, user, natural");
-DEFINE_string(dogleg_type, "traditional", "Options are: traditional, subspace");
DEFINE_bool(use_block_amd, true, "Use a block oriented fill reducing "
"ordering.");
@@ -111,88 +114,19 @@
namespace examples {
void SetLinearSolver(Solver::Options* options) {
- if (FLAGS_solver_type == "sparse_schur") {
- options->linear_solver_type = ceres::SPARSE_SCHUR;
- } else if (FLAGS_solver_type == "dense_schur") {
- options->linear_solver_type = ceres::DENSE_SCHUR;
- } else if (FLAGS_solver_type == "iterative_schur") {
- options->linear_solver_type = ceres::ITERATIVE_SCHUR;
- } else if (FLAGS_solver_type == "sparse_cholesky") {
- options->linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
- } else if (FLAGS_solver_type == "cgnr") {
- options->linear_solver_type = ceres::CGNR;
- } else if (FLAGS_solver_type == "dense_qr") {
- // DENSE_QR is included here for completeness, but actually using
- // this option is a bad idea due to the amount of memory needed
- // to store even the smallest of the bundle adjustment jacobian
- // arrays
- options->linear_solver_type = ceres::DENSE_QR;
- } else if (FLAGS_solver_type == "dense_cholesky") {
- // DENSE_NORMAL_CHOLESKY is included here for completeness, but
- // actually using this option is a bad idea due to the amount of
- // memory needed to store even the smallest of the bundle
- // adjustment jacobian arrays
- options->linear_solver_type = ceres::DENSE_NORMAL_CHOLESKY;
- } else {
- LOG(FATAL) << "Unknown ceres solver type: "
- << FLAGS_solver_type;
- }
-
- if (options->linear_solver_type == ceres::CGNR) {
- options->linear_solver_min_num_iterations = 5;
- if (FLAGS_preconditioner_type == "identity") {
- options->preconditioner_type = ceres::IDENTITY;
- } else if (FLAGS_preconditioner_type == "jacobi") {
- options->preconditioner_type = ceres::JACOBI;
- } else {
- LOG(FATAL) << "For CGNR, only identity and jacobian "
- << "preconditioners are supported. Got: "
- << FLAGS_preconditioner_type;
- }
- }
-
- if (options->linear_solver_type == ceres::ITERATIVE_SCHUR) {
- options->linear_solver_min_num_iterations = 5;
- if (FLAGS_preconditioner_type == "identity") {
- options->preconditioner_type = ceres::IDENTITY;
- } else if (FLAGS_preconditioner_type == "jacobi") {
- options->preconditioner_type = ceres::JACOBI;
- } else if (FLAGS_preconditioner_type == "schur_jacobi") {
- options->preconditioner_type = ceres::SCHUR_JACOBI;
- } else if (FLAGS_preconditioner_type == "cluster_jacobi") {
- options->preconditioner_type = ceres::CLUSTER_JACOBI;
- } else if (FLAGS_preconditioner_type == "cluster_tridiagonal") {
- options->preconditioner_type = ceres::CLUSTER_TRIDIAGONAL;
- } else {
- LOG(FATAL) << "Unknown ceres preconditioner type: "
- << FLAGS_preconditioner_type;
- }
- }
-
- if (FLAGS_sparse_linear_algebra_library == "suitesparse") {
- options->sparse_linear_algebra_library = SUITE_SPARSE;
- } else if (FLAGS_sparse_linear_algebra_library == "cxsparse") {
- options->sparse_linear_algebra_library = CX_SPARSE;
- } else {
- LOG(FATAL) << "Unknown sparse linear algebra library type.";
- }
-
+ CHECK(StringToLinearSolverType(FLAGS_linear_solver,
+ &options->linear_solver_type));
+ CHECK(StringToPreconditionerType(FLAGS_preconditioner,
+ &options->preconditioner_type));
+ CHECK(StringToSparseLinearAlgebraLibraryType(
+ FLAGS_sparse_linear_algebra_library,
+ &options->sparse_linear_algebra_library));
options->num_linear_solver_threads = FLAGS_num_threads;
}
void SetOrdering(BALProblem* bal_problem, Solver::Options* options) {
options->use_block_amd = FLAGS_use_block_amd;
-
- // Only non-Schur solvers support the natural ordering for this
- // problem.
- if (FLAGS_ordering_type == "natural") {
- if (options->linear_solver_type == SPARSE_SCHUR ||
- options->linear_solver_type == DENSE_SCHUR ||
- options->linear_solver_type == ITERATIVE_SCHUR) {
- LOG(FATAL) << "Natural ordering with Schur type solver does not work.";
- }
- return;
- }
+ CHECK(StringToOrderingType(FLAGS_ordering, &options->ordering_type));
// Bundle adjustment problems have a sparsity structure that makes
// them amenable to more specialized and much more efficient
@@ -208,8 +142,7 @@
// the right ParameterBlock ordering, or by manually specifying a
// suitable ordering vector and defining
// Options::num_eliminate_blocks.
- if (FLAGS_ordering_type == "schur") {
- options->ordering_type = ceres::SCHUR;
+ if (options->ordering_type == ceres::SCHUR) {
return;
}
@@ -248,22 +181,9 @@
options->eta = FLAGS_eta;
options->max_solver_time_in_seconds = FLAGS_max_solver_time;
options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
- if (FLAGS_trust_region_strategy == "lm") {
- options->trust_region_strategy_type = LEVENBERG_MARQUARDT;
- } else if (FLAGS_trust_region_strategy == "dogleg") {
- options->trust_region_strategy_type = DOGLEG;
- } else {
- LOG(FATAL) << "Unknown trust region strategy: "
- << FLAGS_trust_region_strategy;
- }
- if (FLAGS_dogleg_type == "traditional") {
- options->dogleg_type = TRADITIONAL_DOGLEG;
- } else if (FLAGS_dogleg_type == "subspace") {
- options->dogleg_type = SUBSPACE_DOGLEG;
- } else {
- LOG(FATAL) << "Unknown dogleg type: "
- << FLAGS_dogleg_type;
- }
+ CHECK(StringToTrustRegionStrategyType(FLAGS_trust_region_strategy,
+ &options->trust_region_strategy_type));
+ CHECK(StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));
}
void SetSolverOptionsFromFlags(BALProblem* bal_problem,
