Welcome to mirror list, hosted at ThFree Co, Russian Federation.

git.blender.org/blender.git - Unnamed repository; edit this file 'description' to name the repository.
summaryrefslogtreecommitdiff
path: root/extern/ceres/internal/ceres/line_search_minimizer.cc
diff options
context:
space:
mode:
Diffstat (limited to 'extern/ceres/internal/ceres/line_search_minimizer.cc')
-rw-r--r--extern/ceres/internal/ceres/line_search_minimizer.cc187
1 files changed, 108 insertions, 79 deletions
diff --git a/extern/ceres/internal/ceres/line_search_minimizer.cc b/extern/ceres/internal/ceres/line_search_minimizer.cc
index 931f56c960c..ea1c5072a14 100644
--- a/extern/ceres/internal/ceres/line_search_minimizer.cc
+++ b/extern/ceres/internal/ceres/line_search_minimizer.cc
@@ -41,8 +41,8 @@
#include "ceres/line_search_minimizer.h"
#include <algorithm>
-#include <cstdlib>
#include <cmath>
+#include <cstdlib>
#include <memory>
#include <string>
#include <vector>
@@ -88,7 +88,7 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
Solver::Summary* summary) {
const bool is_not_silent = !options.is_silent;
double start_time = WallTimeInSeconds();
- double iteration_start_time = start_time;
+ double iteration_start_time = start_time;
CHECK(options.evaluator != nullptr);
Evaluator* evaluator = options.evaluator.get();
@@ -123,15 +123,20 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
nullptr)) {
summary->termination_type = FAILURE;
summary->message = "Initial cost and jacobian evaluation failed.";
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
return;
}
if (!EvaluateGradientNorms(evaluator, x, &current_state, &summary->message)) {
summary->termination_type = FAILURE;
- summary->message = "Initial cost and jacobian evaluation failed. "
- "More details: " + summary->message;
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ summary->message =
+ "Initial cost and jacobian evaluation failed. More details: " +
+ summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
return;
}
@@ -141,20 +146,21 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
iteration_summary.gradient_norm = sqrt(current_state.gradient_squared_norm);
iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
- summary->message = StringPrintf("Gradient tolerance reached. "
- "Gradient max norm: %e <= %e",
- iteration_summary.gradient_max_norm,
- options.gradient_tolerance);
+ summary->message =
+ StringPrintf("Gradient tolerance reached. Gradient max norm: %e <= %e",
+ iteration_summary.gradient_max_norm,
+ options.gradient_tolerance);
summary->termination_type = CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
return;
}
iteration_summary.iteration_time_in_seconds =
WallTimeInSeconds() - iteration_start_time;
iteration_summary.cumulative_time_in_seconds =
- WallTimeInSeconds() - start_time
- + summary->preprocessor_time_in_seconds;
+ WallTimeInSeconds() - start_time + summary->preprocessor_time_in_seconds;
summary->iterations.push_back(iteration_summary);
LineSearchDirection::Options line_search_direction_options;
@@ -189,13 +195,13 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
line_search_options.is_silent = options.is_silent;
line_search_options.function = &line_search_function;
- std::unique_ptr<LineSearch>
- line_search(LineSearch::Create(options.line_search_type,
- line_search_options,
- &summary->message));
+ std::unique_ptr<LineSearch> line_search(LineSearch::Create(
+ options.line_search_type, line_search_options, &summary->message));
if (line_search.get() == nullptr) {
summary->termination_type = FAILURE;
- LOG_IF(ERROR, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(ERROR) << "Terminating: " << summary->message;
+ }
return;
}
@@ -211,16 +217,20 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
if (iteration_summary.iteration >= options.max_num_iterations) {
summary->message = "Maximum number of iterations reached.";
summary->termination_type = NO_CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
break;
}
const double total_solver_time = iteration_start_time - start_time +
- summary->preprocessor_time_in_seconds;
+ summary->preprocessor_time_in_seconds;
if (total_solver_time >= options.max_solver_time_in_seconds) {
summary->message = "Maximum solver time reached.";
summary->termination_type = NO_CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
break;
}
@@ -234,23 +244,23 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
current_state.search_direction = -current_state.gradient;
} else {
line_search_status = line_search_direction->NextDirection(
- previous_state,
- current_state,
- &current_state.search_direction);
+ previous_state, current_state, &current_state.search_direction);
}
if (!line_search_status &&
num_line_search_direction_restarts >=
- options.max_num_line_search_direction_restarts) {
+ options.max_num_line_search_direction_restarts) {
// Line search direction failed to generate a new direction, and we
// have already reached our specified maximum number of restarts,
// terminate optimization.
- summary->message =
- StringPrintf("Line search direction failure: specified "
- "max_num_line_search_direction_restarts: %d reached.",
- options.max_num_line_search_direction_restarts);
+ summary->message = StringPrintf(
+ "Line search direction failure: specified "
+ "max_num_line_search_direction_restarts: %d reached.",
+ options.max_num_line_search_direction_restarts);
summary->termination_type = FAILURE;
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
break;
} else if (!line_search_status) {
// Restart line search direction with gradient descent on first iteration
@@ -259,16 +269,17 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
options.max_num_line_search_direction_restarts);
++num_line_search_direction_restarts;
- LOG_IF(WARNING, is_not_silent)
- << "Line search direction algorithm: "
- << LineSearchDirectionTypeToString(
- options.line_search_direction_type)
- << ", failed to produce a valid new direction at "
- << "iteration: " << iteration_summary.iteration
- << ". Restarting, number of restarts: "
- << num_line_search_direction_restarts << " / "
- << options.max_num_line_search_direction_restarts
- << " [max].";
+ if (is_not_silent) {
+ LOG(WARNING) << "Line search direction algorithm: "
+ << LineSearchDirectionTypeToString(
+ options.line_search_direction_type)
+ << ", failed to produce a valid new direction at "
+ << "iteration: " << iteration_summary.iteration
+ << ". Restarting, number of restarts: "
+ << num_line_search_direction_restarts << " / "
+ << options.max_num_line_search_direction_restarts
+ << " [max].";
+ }
line_search_direction.reset(
LineSearchDirection::Create(line_search_direction_options));
current_state.search_direction = -current_state.gradient;
@@ -286,21 +297,25 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
// iteration.
const double initial_step_size =
(iteration_summary.iteration == 1 || !line_search_status)
- ? std::min(1.0, 1.0 / current_state.gradient_max_norm)
- : std::min(1.0, 2.0 * (current_state.cost - previous_state.cost) /
- current_state.directional_derivative);
+ ? std::min(1.0, 1.0 / current_state.gradient_max_norm)
+ : std::min(1.0,
+ 2.0 * (current_state.cost - previous_state.cost) /
+ current_state.directional_derivative);
// By definition, we should only ever go forwards along the specified search
// direction in a line search, most likely cause for this being violated
// would be a numerical failure in the line search direction calculation.
if (initial_step_size < 0.0) {
- summary->message =
- StringPrintf("Numerical failure in line search, initial_step_size is "
- "negative: %.5e, directional_derivative: %.5e, "
- "(current_cost - previous_cost): %.5e",
- initial_step_size, current_state.directional_derivative,
- (current_state.cost - previous_state.cost));
+ summary->message = StringPrintf(
+ "Numerical failure in line search, initial_step_size is "
+ "negative: %.5e, directional_derivative: %.5e, "
+ "(current_cost - previous_cost): %.5e",
+ initial_step_size,
+ current_state.directional_derivative,
+ (current_state.cost - previous_state.cost));
summary->termination_type = FAILURE;
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
break;
}
@@ -309,14 +324,17 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
current_state.directional_derivative,
&line_search_summary);
if (!line_search_summary.success) {
- summary->message =
- StringPrintf("Numerical failure in line search, failed to find "
- "a valid step size, (did not run out of iterations) "
- "using initial_step_size: %.5e, initial_cost: %.5e, "
- "initial_gradient: %.5e.",
- initial_step_size, current_state.cost,
- current_state.directional_derivative);
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ summary->message = StringPrintf(
+ "Numerical failure in line search, failed to find "
+ "a valid step size, (did not run out of iterations) "
+ "using initial_step_size: %.5e, initial_cost: %.5e, "
+ "initial_gradient: %.5e.",
+ initial_step_size,
+ current_state.cost,
+ current_state.directional_derivative);
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
summary->termination_type = FAILURE;
break;
}
@@ -343,7 +361,9 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
nullptr)) {
summary->termination_type = FAILURE;
summary->message = "Cost and jacobian evaluation failed.";
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
return;
}
}
@@ -357,7 +377,9 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
"Step failed to evaluate. This should not happen as the step was "
"valid when it was selected by the line search. More details: " +
summary->message;
- LOG_IF(WARNING, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ LOG(WARNING) << "Terminating: " << summary->message;
+ }
break;
}
@@ -373,7 +395,7 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
iteration_summary.step_is_valid = true;
iteration_summary.step_is_successful = true;
- iteration_summary.step_size = current_state.step_size;
+ iteration_summary.step_size = current_state.step_size;
iteration_summary.line_search_function_evaluations =
line_search_summary.num_function_evaluations;
iteration_summary.line_search_gradient_evaluations =
@@ -383,8 +405,8 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
iteration_summary.iteration_time_in_seconds =
WallTimeInSeconds() - iteration_start_time;
iteration_summary.cumulative_time_in_seconds =
- WallTimeInSeconds() - start_time
- + summary->preprocessor_time_in_seconds;
+ WallTimeInSeconds() - start_time +
+ summary->preprocessor_time_in_seconds;
summary->iterations.push_back(iteration_summary);
// Iterations inside the line search algorithm are considered
@@ -393,7 +415,7 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
// minimizer. The number of line search steps is the total number
// of inner line search iterations (or steps) across the entire
// minimization.
- summary->num_line_search_steps += line_search_summary.num_iterations;
+ summary->num_line_search_steps += line_search_summary.num_iterations;
summary->line_search_cost_evaluation_time_in_seconds +=
line_search_summary.cost_evaluation_time_in_seconds;
summary->line_search_gradient_evaluation_time_in_seconds +=
@@ -404,27 +426,32 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
line_search_summary.total_time_in_seconds;
++summary->num_successful_steps;
- const double step_size_tolerance = options.parameter_tolerance *
- (x_norm + options.parameter_tolerance);
+ const double step_size_tolerance =
+ options.parameter_tolerance * (x_norm + options.parameter_tolerance);
if (iteration_summary.step_norm <= step_size_tolerance) {
- summary->message =
- StringPrintf("Parameter tolerance reached. "
- "Relative step_norm: %e <= %e.",
- (iteration_summary.step_norm /
- (x_norm + options.parameter_tolerance)),
- options.parameter_tolerance);
+ summary->message = StringPrintf(
+ "Parameter tolerance reached. "
+ "Relative step_norm: %e <= %e.",
+ (iteration_summary.step_norm /
+ (x_norm + options.parameter_tolerance)),
+ options.parameter_tolerance);
summary->termination_type = CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
return;
}
if (iteration_summary.gradient_max_norm <= options.gradient_tolerance) {
- summary->message = StringPrintf("Gradient tolerance reached. "
- "Gradient max norm: %e <= %e",
- iteration_summary.gradient_max_norm,
- options.gradient_tolerance);
+ summary->message = StringPrintf(
+ "Gradient tolerance reached. "
+ "Gradient max norm: %e <= %e",
+ iteration_summary.gradient_max_norm,
+ options.gradient_tolerance);
summary->termination_type = CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
break;
}
@@ -438,7 +465,9 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
std::abs(iteration_summary.cost_change) / previous_state.cost,
options.function_tolerance);
summary->termination_type = CONVERGENCE;
- VLOG_IF(1, is_not_silent) << "Terminating: " << summary->message;
+ if (is_not_silent) {
+ VLOG(1) << "Terminating: " << summary->message;
+ }
break;
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 14:00:44 +0300