Resolve "Min num of iterations in iteration_update_callback"

Closes #361 (closed)

include/core/ceres_wrapper/iteration_update_callback.h

@@ -16,10 +16,11 @@ namespace wolf {
 class IterationUpdateCallback : public ceres::IterationCallback
 {
     public:
-        explicit IterationUpdateCallback(ProblemPtr _problem, bool verbose = false)
+        explicit IterationUpdateCallback(ProblemPtr _problem, const int& min_num_iterations, bool verbose = false)
         : problem_(_problem)
-        , verbose_(verbose)
+        , min_num_iterations_(min_num_iterations)
         , initial_cost_(0)
+        , verbose_(verbose)
         {}
 
         ~IterationUpdateCallback() {}
@@ -29,8 +30,9 @@ class IterationUpdateCallback : public ceres::IterationCallback
             if (summary.iteration == 0)
                 initial_cost_ = summary.cost;
 
-            if (problem_->getStateBlockNotificationMapSize() != 0 or
-                problem_->getFactorNotificationMapSize() != 0)
+            else if (summary.iteration >= min_num_iterations_ and
+                (problem_->getStateBlockNotificationMapSize() != 0 or
+                 problem_->getFactorNotificationMapSize() != 0))
             {
                 if (summary.cost >= initial_cost_)
                 {
@@ -48,8 +50,9 @@ class IterationUpdateCallback : public ceres::IterationCallback
 
     private:
         ProblemPtr problem_;
-        bool verbose_;
+        int min_num_iterations_;
         double initial_cost_;
+        bool verbose_;
 };
 
 }