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CeresIterationCallback.hpp
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29  * Created on: May 22, 2015
30  * Author: Andreas Forster (an.forster@gmail.com)
31  * Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
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33 
42 #ifndef INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP
43 #define INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP
44 
45 #include <ceres/iteration_callback.h>
46 
48 namespace okvis {
50 namespace ceres {
51 
57 class CeresIterationCallback : public ::ceres::IterationCallback {
58  public:
59 
66  CeresIterationCallback(double timeLimit, int iterationMinimum)
67  : timeLimit_(timeLimit),
68  iterationMinimum_(iterationMinimum) {
69  }
70 
73  }
74 
77  ::ceres::CallbackReturnType operator()(
78  const ::ceres::IterationSummary& summary) {
79  // assume next iteration takes the same time as current iteration
80  if (summary.iteration >= iterationMinimum_
81  && summary.cumulative_time_in_seconds
82  + summary.iteration_time_in_seconds > timeLimit_) {
83  return ::ceres::SOLVER_TERMINATE_SUCCESSFULLY;
84  }
85  return ::ceres::SOLVER_CONTINUE;
86  }
87 
95  void setTimeLimit(double timeLimit) {
96  timeLimit_ = timeLimit;
97  }
98 
104  void setMinimumIterations(int iterationMinimum) {
105  iterationMinimum_ = iterationMinimum;
106  }
107 
108  private:
109  double timeLimit_;
111 };
112 
113 } // namespace ceres
114 } // namespace okvis
115 
116 #endif /* INCLUDE_OKVIS_CERES_CERESITERATIONCALLBACK_HPP */
::ceres::CallbackReturnType operator()(const ::ceres::IterationSummary &summary)
This method is called after every iteration in ceres.
Definition: CeresIterationCallback.hpp:77
CeresIterationCallback(double timeLimit, int iterationMinimum)
The constructor.
Definition: CeresIterationCallback.hpp:66
int iterationMinimum_
The set maximum no. iterations.
Definition: CeresIterationCallback.hpp:110
The CeresIterationCallback class tries to enforce a time limit on the optimization. It does not guarantee to stay within the time budget as it assumes the next iteration takes as long as the previous iteration.
Definition: CeresIterationCallback.hpp:57
~CeresIterationCallback()
Trivial Destructor.
Definition: CeresIterationCallback.hpp:72
double timeLimit_
The set time limit.
Definition: CeresIterationCallback.hpp:109
void setMinimumIterations(int iterationMinimum)
setMinimumIterations changes the minimum iterations the optimization goes through disregarding the ti...
Definition: CeresIterationCallback.hpp:104
void setTimeLimit(double timeLimit)
setTimeLimit changes time limit of optimization. If you want to disable the time limit, either set it to a large value, delete the callback in the ceres options or set the minimum iterations to the maximum iteration.
Definition: CeresIterationCallback.hpp:95