CeresIterationCallback.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 *  Created on: May 22, 2015
 *      Author: Andreas Forster (an.forster@gmail.com)
 *    Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP
#define INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP

#include <ceres/iteration_callback.h>

namespace okvis {
namespace ceres {

class CeresIterationCallback : public ::ceres::IterationCallback {
 public:

  CeresIterationCallback(double timeLimit, int iterationMinimum)
      : timeLimit_(timeLimit),
        iterationMinimum_(iterationMinimum) {
  }

  ~CeresIterationCallback() {
  }

  ::ceres::CallbackReturnType operator()(
      const ::ceres::IterationSummary& summary) {
    // assume next iteration takes the same time as current iteration
    if (summary.iteration >= iterationMinimum_
        && summary.cumulative_time_in_seconds
            + summary.iteration_time_in_seconds > timeLimit_) {
      return ::ceres::SOLVER_TERMINATE_SUCCESSFULLY;
    }
    return ::ceres::SOLVER_CONTINUE;
  }

  void setTimeLimit(double timeLimit) {
    timeLimit_ = timeLimit;
  }

  void setMinimumIterations(int iterationMinimum) {
    iterationMinimum_ = iterationMinimum;
  }

 private:
  double timeLimit_; 
  int iterationMinimum_; 
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP */