commit fa01519c474ace99017c444a73424f9fc7c83cc2
author Sameer Agarwal <sameeragarwal@google.com> Mon Jun 11 14:21:42 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Mon Jun 11 22:16:02 2012 -0700
tree 1fa7ba7909909a9f1d618175e5602706d210fd48
parent d432f78389e08baa5f2717f225097f38d611e082

Dogleg strategy and timing cleanups.

1. A new dogleg trust region strategy.
2. Consistent naming of all variables taking and reporting
   time. Also all are doubles now.
3. Enum to stringification routines.
4. bundle_adjuster.cc accepts max solver time and trust_region_strategy.
5. Time accounting is pushed into solver_impl.cc and there is now
   postprocessing time accounted for explicitly.
6. IterationCallback now has cumulative time.
7. LoggingCallback logs per iteration and cumulative time.
8. TrustRegionStrategy now allows for Invalid steps to be indicated
   explicitly.
9. Trust region minimizer actually terminates on max_solver_time.

Change-Id: I7e3b82c8beebc17b6b355ea46ddd280754a2d8b2

internal/ceres/trust_region_strategy.h

diff --git a/internal/ceres/trust_region_strategy.h b/internal/ceres/trust_region_strategy.h
index 2463d64..b15a895 100644
--- a/internal/ceres/trust_region_strategy.h
+++ b/internal/ceres/trust_region_strategy.h
@@ -66,7 +66,9 @@
     double max_radius;
 
     // Minimum and maximum values of the diagonal damping matrix used
-    // by LevenbergMarquardtStrategy.
+    // by LevenbergMarquardtStrategy. The DoglegStrategy also uses
+    // these bounds to construct a regularizing diagonal to ensure
+    // that the Gauss-Newton step computation is of full rank.
     double lm_min_diagonal;
     double lm_max_diagonal;
   };