Method Solve

internal/ceres/gradient_problem_solver.cc:98–201

GradientProblemSolver::~GradientProblemSolver() = default;

void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options,
                                  const GradientProblem& problem,
                                  double* parameters_ptr,
                                  GradientProblemSolver::Summary* summary) {
  using internal::CallStatistics;
  using internal::GradientProblemEvaluator;
  using internal::GradientProblemSolverStateUpdatingCallback;
  using internal::LoggingCallback;
  using internal::Minimizer;
  using internal::SetSummaryFinalCost;
  using internal::WallTimeInSeconds;

  double start_time = WallTimeInSeconds();

  CHECK(summary != nullptr);
  *summary = Summary();
  // clang-format off
  summary->num_parameters                    = problem.NumParameters();
  summary->num_tangent_parameters            = problem.NumTangentParameters();
  summary->line_search_direction_type        = options.line_search_direction_type;         //  NOLINT
  summary->line_search_interpolation_type    = options.line_search_interpolation_type;     //  NOLINT
  summary->line_search_type                  = options.line_search_type;
  summary->max_lbfgs_rank                    = options.max_lbfgs_rank;
  summary->nonlinear_conjugate_gradient_type = options.nonlinear_conjugate_gradient_type;  //  NOLINT
  // clang-format on

  // Check validity
  if (!options.IsValid(&summary->message)) {
    LOG(ERROR) << "Terminating: " << summary->message;
    return;
  }

  VectorRef parameters(parameters_ptr, problem.NumParameters());
  Vector solution(problem.NumParameters());
  solution = parameters;

  // TODO(sameeragarwal): This is a bit convoluted, we should be able
  // to convert to minimizer options directly, but this will do for
  // now.
  Minimizer::Options minimizer_options =
      Minimizer::Options(GradientProblemSolverOptionsToSolverOptions(options));
  minimizer_options.evaluator =
      std::make_unique<GradientProblemEvaluator>(problem);

  std::unique_ptr<IterationCallback> logging_callback;
  if (options.logging_type != SILENT) {
    logging_callback = std::make_unique<LoggingCallback>(
        LINE_SEARCH, options.minimizer_progress_to_stdout);
    minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
                                       logging_callback.get());
  }

  std::unique_ptr<IterationCallback> state_updating_callback;
  if (options.update_state_every_iteration) {
    state_updating_callback =
        std::make_unique<GradientProblemSolverStateUpdatingCallback>(
            problem.NumParameters(), solution.data(), parameters_ptr);
    minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),