diff options
Diffstat (limited to 'extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc b/extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc index e9833805ef5..9eec631e6dd 100644 --- a/extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc +++ b/extern/ceres/internal/ceres/levenberg_marquardt_strategy.cc @@ -30,7 +30,9 @@ #include "ceres/levenberg_marquardt_strategy.h" +#include <algorithm> #include <cmath> + #include "Eigen/Core" #include "ceres/array_utils.h" #include "ceres/internal/eigen.h" @@ -53,7 +55,7 @@ LevenbergMarquardtStrategy::LevenbergMarquardtStrategy( max_diagonal_(options.max_lm_diagonal), decrease_factor_(2.0), reuse_diagonal_(false) { - CHECK_NOTNULL(linear_solver_); + CHECK(linear_solver_ != nullptr); CHECK_GT(min_diagonal_, 0.0); CHECK_LE(min_diagonal_, max_diagonal_); CHECK_GT(max_radius_, 0.0); @@ -67,9 +69,9 @@ TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep( SparseMatrix* jacobian, const double* residuals, double* step) { - CHECK_NOTNULL(jacobian); - CHECK_NOTNULL(residuals); - CHECK_NOTNULL(step); + CHECK(jacobian != nullptr); + CHECK(residuals != nullptr); + CHECK(step != nullptr); const int num_parameters = jacobian->num_cols(); if (!reuse_diagonal_) { @@ -98,7 +100,7 @@ TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep( // Invalidate the output array lm_step, so that we can detect if // the linear solver generated numerical garbage. This is known // to happen for the DENSE_QR and then DENSE_SCHUR solver when - // the Jacobin is severly rank deficient and mu is too small. + // the Jacobin is severely rank deficient and mu is too small. InvalidateArray(num_parameters, step); // Instead of solving Jx = -r, solve Jy = r. |