diff options
Diffstat (limited to 'extern/ceres/internal/ceres/gradient_problem_solver.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/gradient_problem_solver.cc | 89 |
1 files changed, 46 insertions, 43 deletions
diff --git a/extern/ceres/internal/ceres/gradient_problem_solver.cc b/extern/ceres/internal/ceres/gradient_problem_solver.cc index 8709f8f3fbd..1639e30666c 100644 --- a/extern/ceres/internal/ceres/gradient_problem_solver.cc +++ b/extern/ceres/internal/ceres/gradient_problem_solver.cc @@ -30,6 +30,7 @@ #include "ceres/gradient_problem_solver.h" +#include <memory> #include "ceres/callbacks.h" #include "ceres/gradient_problem.h" #include "ceres/gradient_problem_evaluator.h" @@ -72,6 +73,7 @@ Solver::Options GradientProblemSolverOptionsToSolverOptions( COPY_OPTION(max_line_search_step_expansion); COPY_OPTION(max_num_iterations); COPY_OPTION(max_solver_time_in_seconds); + COPY_OPTION(parameter_tolerance); COPY_OPTION(function_tolerance); COPY_OPTION(gradient_tolerance); COPY_OPTION(logging_type); @@ -97,16 +99,18 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options, const GradientProblem& problem, double* parameters_ptr, GradientProblemSolver::Summary* summary) { - using internal::scoped_ptr; - using internal::WallTimeInSeconds; - using internal::Minimizer; + using internal::CallStatistics; using internal::GradientProblemEvaluator; + using internal::GradientProblemSolverStateUpdatingCallback; using internal::LoggingCallback; + using internal::Minimizer; using internal::SetSummaryFinalCost; + using internal::WallTimeInSeconds; double start_time = WallTimeInSeconds(); - *CHECK_NOTNULL(summary) = Summary(); + CHECK(summary != nullptr); + *summary = Summary(); summary->num_parameters = problem.NumParameters(); summary->num_local_parameters = problem.NumLocalParameters(); summary->line_search_direction_type = options.line_search_direction_type; // NOLINT @@ -121,6 +125,10 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options, return; } + VectorRef parameters(parameters_ptr, problem.NumParameters()); + Vector solution(problem.NumParameters()); + solution = parameters; + // TODO(sameeragarwal): This is a bit convoluted, we should be able // to convert to minimizer options directly, but this will do for // now. @@ -128,7 +136,7 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options, Minimizer::Options(GradientProblemSolverOptionsToSolverOptions(options)); minimizer_options.evaluator.reset(new GradientProblemEvaluator(problem)); - scoped_ptr<IterationCallback> logging_callback; + std::unique_ptr<IterationCallback> logging_callback; if (options.logging_type != SILENT) { logging_callback.reset( new LoggingCallback(LINE_SEARCH, options.minimizer_progress_to_stdout)); @@ -136,10 +144,16 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options, logging_callback.get()); } - scoped_ptr<Minimizer> minimizer(Minimizer::Create(LINE_SEARCH)); - Vector solution(problem.NumParameters()); - VectorRef parameters(parameters_ptr, problem.NumParameters()); - solution = parameters; + std::unique_ptr<IterationCallback> state_updating_callback; + if (options.update_state_every_iteration) { + state_updating_callback.reset( + new GradientProblemSolverStateUpdatingCallback( + problem.NumParameters(), solution.data(), parameters_ptr)); + minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(), + state_updating_callback.get()); + } + + std::unique_ptr<Minimizer> minimizer(Minimizer::Create(LINE_SEARCH)); Solver::Summary solver_summary; solver_summary.fixed_cost = 0.0; @@ -162,34 +176,23 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options, SetSummaryFinalCost(summary); } - const std::map<string, double>& evaluator_time_statistics = - minimizer_options.evaluator->TimeStatistics(); - summary->cost_evaluation_time_in_seconds = - FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0); - summary->gradient_evaluation_time_in_seconds = - FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0); + const std::map<string, CallStatistics>& evaluator_statistics = + minimizer_options.evaluator->Statistics(); + { + const CallStatistics& call_stats = FindWithDefault( + evaluator_statistics, "Evaluator::Residual", CallStatistics()); + summary->cost_evaluation_time_in_seconds = call_stats.time; + summary->num_cost_evaluations = call_stats.calls; + } - summary->total_time_in_seconds = WallTimeInSeconds() - start_time; -} + { + const CallStatistics& call_stats = FindWithDefault( + evaluator_statistics, "Evaluator::Jacobian", CallStatistics()); + summary->gradient_evaluation_time_in_seconds = call_stats.time; + summary->num_gradient_evaluations = call_stats.calls; + } -// Invalid values for most fields, to ensure that we are not -// accidentally reporting default values. -GradientProblemSolver::Summary::Summary() - : termination_type(FAILURE), - message("ceres::GradientProblemSolve was not called."), - initial_cost(-1.0), - final_cost(-1.0), - total_time_in_seconds(-1.0), - cost_evaluation_time_in_seconds(-1.0), - gradient_evaluation_time_in_seconds(-1.0), - line_search_polynomial_minimization_time_in_seconds(-1.0), - num_parameters(-1), - num_local_parameters(-1), - line_search_direction_type(LBFGS), - line_search_type(ARMIJO), - line_search_interpolation_type(BISECTION), - nonlinear_conjugate_gradient_type(FLETCHER_REEVES), - max_lbfgs_rank(-1) { + summary->total_time_in_seconds = WallTimeInSeconds() - start_time; } bool GradientProblemSolver::Summary::IsSolutionUsable() const { @@ -256,15 +259,15 @@ string GradientProblemSolver::Summary::FullReport() const { static_cast<int>(iterations.size())); StringAppendF(&report, "\nTime (in seconds):\n"); - - StringAppendF(&report, "\n Cost evaluation %23.4f\n", - cost_evaluation_time_in_seconds); - StringAppendF(&report, " Gradient evaluation %23.4f\n", - gradient_evaluation_time_in_seconds); - StringAppendF(&report, " Polynomial minimization %17.4f\n", + StringAppendF(&report, "\n Cost evaluation %23.6f (%d)\n", + cost_evaluation_time_in_seconds, + num_cost_evaluations); + StringAppendF(&report, " Gradient & cost evaluation %16.6f (%d)\n", + gradient_evaluation_time_in_seconds, + num_gradient_evaluations); + StringAppendF(&report, " Polynomial minimization %17.6f\n", line_search_polynomial_minimization_time_in_seconds); - - StringAppendF(&report, "Total %25.4f\n\n", + StringAppendF(&report, "Total %25.6f\n\n", total_time_in_seconds); StringAppendF(&report, "Termination: %25s (%s)\n", |