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Diffstat (limited to 'extern/ceres/internal/ceres/callbacks.cc')
-rw-r--r-- | extern/ceres/internal/ceres/callbacks.cc | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/callbacks.cc b/extern/ceres/internal/ceres/callbacks.cc new file mode 100644 index 00000000000..50a0ec19924 --- /dev/null +++ b/extern/ceres/internal/ceres/callbacks.cc @@ -0,0 +1,111 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#include <iostream> // NO LINT +#include "ceres/callbacks.h" +#include "ceres/program.h" +#include "ceres/stringprintf.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +using std::string; + +StateUpdatingCallback::StateUpdatingCallback(Program* program, + double* parameters) + : program_(program), parameters_(parameters) {} + +StateUpdatingCallback::~StateUpdatingCallback() {} + +CallbackReturnType StateUpdatingCallback::operator()( + const IterationSummary& summary) { + if (summary.step_is_successful) { + program_->StateVectorToParameterBlocks(parameters_); + program_->CopyParameterBlockStateToUserState(); + } + return SOLVER_CONTINUE; +} + +LoggingCallback::LoggingCallback(const MinimizerType minimizer_type, + const bool log_to_stdout) + : minimizer_type(minimizer_type), + log_to_stdout_(log_to_stdout) {} + +LoggingCallback::~LoggingCallback() {} + +CallbackReturnType LoggingCallback::operator()( + const IterationSummary& summary) { + string output; + if (minimizer_type == LINE_SEARCH) { + const char* kReportRowFormat = + "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e " + "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e"; + output = StringPrintf(kReportRowFormat, + summary.iteration, + summary.cost, + summary.cost_change, + summary.gradient_max_norm, + summary.step_norm, + summary.step_size, + summary.line_search_function_evaluations, + summary.iteration_time_in_seconds, + summary.cumulative_time_in_seconds); + } else if (minimizer_type == TRUST_REGION) { + if (summary.iteration == 0) { + output = "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n"; // NOLINT + } + const char* kReportRowFormat = + "% 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 4d % 3.2e % 3.2e"; // NOLINT + output += StringPrintf(kReportRowFormat, + summary.iteration, + summary.cost, + summary.cost_change, + summary.gradient_max_norm, + summary.step_norm, + summary.relative_decrease, + summary.trust_region_radius, + summary.linear_solver_iterations, + summary.iteration_time_in_seconds, + summary.cumulative_time_in_seconds); + } else { + LOG(FATAL) << "Unknown minimizer type."; + } + + if (log_to_stdout_) { + std::cout << output << std::endl; + } else { + VLOG(1) << output; + } + return SOLVER_CONTINUE; +} + +} // namespace internal +} // namespace ceres |