Address some of the comments on CGNR patch
- Rename BlockDiagonalPreconditioner to BlockJacobiPreconditioner
- Include the diagonal in the block jacobi preconditioner.
- Better flag help for eta.
- Enable test for CGNR
- Rename CONJUGATE_GRADIENTS to CGNR.
- etc.
diff --git a/internal/ceres/cgnr_solver.cc b/internal/ceres/cgnr_solver.cc
index 2c88e33..ccc8026 100644
--- a/internal/ceres/cgnr_solver.cc
+++ b/internal/ceres/cgnr_solver.cc
@@ -30,10 +30,11 @@
#include "ceres/cgnr_solver.h"
+#include "glog/logging.h"
#include "ceres/linear_solver.h"
#include "ceres/cgnr_linear_operator.h"
#include "ceres/conjugate_gradients_solver.h"
-#include "ceres/block_diagonal_preconditioner.h"
+#include "ceres/block_jacobi_preconditioner.h"
namespace ceres {
namespace internal {
@@ -57,19 +58,19 @@
LinearSolver::PerSolveOptions cg_per_solve_options = per_solve_options;
if (options_.preconditioner_type == JACOBI) {
if (jacobi_preconditioner_.get() == NULL) {
- jacobi_preconditioner_.reset(new BlockDiagonalPreconditioner(*A));
+ jacobi_preconditioner_.reset(new BlockJacobiPreconditioner(*A));
}
- jacobi_preconditioner_->Update(*A);
+ jacobi_preconditioner_->Update(*A, per_solve_options.D);
cg_per_solve_options.preconditioner = jacobi_preconditioner_.get();
} else if (options_.preconditioner_type != IDENTITY) {
- // TODO(keir): This should die somehow.
+ LOG(FATAL) << "CGNR only supports IDENTITY and JACOBI preconditioners.";
}
// Solve (AtA + DtD)x = z (= Atb).
std::fill(x, x + A->num_cols(), 0.0);
- CgnrLinearOperator AtApDtD(A, per_solve_options.D);
+ CgnrLinearOperator lhs(*A, per_solve_options.D);
ConjugateGradientsSolver conjugate_gradient_solver(options_);
- return conjugate_gradient_solver.Solve(&AtApDtD,
+ return conjugate_gradient_solver.Solve(&lhs,
z.get(),
cg_per_solve_options,
x);
