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path: root/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc')
-rw-r--r--extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc175
1 files changed, 69 insertions, 106 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
index 1ebf442131a..6c579a6098d 100644
--- a/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
+++ b/extern/libmv/third_party/ceres/internal/ceres/solver_impl.cc
@@ -208,6 +208,22 @@ void SummarizeOrdering(ParameterBlockOrdering* ordering,
}
}
+void SummarizeGivenProgram(const Program& program, Solver::Summary* summary) {
+ summary->num_parameter_blocks = program.NumParameterBlocks();
+ summary->num_parameters = program.NumParameters();
+ summary->num_effective_parameters = program.NumEffectiveParameters();
+ summary->num_residual_blocks = program.NumResidualBlocks();
+ summary->num_residuals = program.NumResiduals();
+}
+
+void SummarizeReducedProgram(const Program& program, Solver::Summary* summary) {
+ summary->num_parameter_blocks_reduced = program.NumParameterBlocks();
+ summary->num_parameters_reduced = program.NumParameters();
+ summary->num_effective_parameters_reduced = program.NumEffectiveParameters();
+ summary->num_residual_blocks_reduced = program.NumResidualBlocks();
+ summary->num_residuals_reduced = program.NumResiduals();
+}
+
} // namespace
void SolverImpl::TrustRegionMinimize(
@@ -351,29 +367,10 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
*CHECK_NOTNULL(summary) = Solver::Summary();
summary->minimizer_type = TRUST_REGION;
- summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
- summary->num_parameters = problem_impl->NumParameters();
- summary->num_effective_parameters =
- original_program->NumEffectiveParameters();
- summary->num_residual_blocks = problem_impl->NumResidualBlocks();
- summary->num_residuals = problem_impl->NumResiduals();
-
- // Empty programs are usually a user error.
- if (summary->num_parameter_blocks == 0) {
- summary->error = "Problem contains no parameter blocks.";
- LOG(ERROR) << summary->error;
- return;
- }
-
- if (summary->num_residual_blocks == 0) {
- summary->error = "Problem contains no residual blocks.";
- LOG(ERROR) << summary->error;
- return;
- }
+ SummarizeGivenProgram(*original_program, summary);
SummarizeOrdering(original_options.linear_solver_ordering,
&(summary->linear_solver_ordering_given));
-
SummarizeOrdering(original_options.inner_iteration_ordering,
&(summary->inner_iteration_ordering_given));
@@ -404,9 +401,9 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
if (options.trust_region_minimizer_iterations_to_dump.size() > 0 &&
options.trust_region_problem_dump_format_type != CONSOLE &&
options.trust_region_problem_dump_directory.empty()) {
- summary->error =
+ summary->message =
"Solver::Options::trust_region_problem_dump_directory is empty.";
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
@@ -434,8 +431,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
}
if (original_options.linear_solver_ordering != NULL) {
- if (!IsOrderingValid(original_options, problem_impl, &summary->error)) {
- LOG(ERROR) << summary->error;
+ if (!IsOrderingValid(original_options, problem_impl, &summary->message)) {
+ LOG(ERROR) << summary->message;
return;
}
event_logger.AddEvent("CheckOrdering");
@@ -466,7 +463,7 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
scoped_ptr<Program> reduced_program(CreateReducedProgram(&options,
problem_impl,
&summary->fixed_cost,
- &summary->error));
+ &summary->message));
event_logger.AddEvent("CreateReducedProgram");
if (reduced_program == NULL) {
@@ -475,30 +472,23 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
SummarizeOrdering(options.linear_solver_ordering,
&(summary->linear_solver_ordering_used));
-
- summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
- summary->num_parameters_reduced = reduced_program->NumParameters();
- summary->num_effective_parameters_reduced =
- reduced_program->NumEffectiveParameters();
- summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
- summary->num_residuals_reduced = reduced_program->NumResiduals();
+ SummarizeReducedProgram(*reduced_program, summary);
if (summary->num_parameter_blocks_reduced == 0) {
summary->preprocessor_time_in_seconds =
WallTimeInSeconds() - solver_start_time;
double post_process_start_time = WallTimeInSeconds();
- LOG(INFO) << "Terminating: FUNCTION_TOLERANCE reached. "
- << "No non-constant parameter blocks found.";
+
+ summary->message =
+ "Terminating: Function tolerance reached. "
+ "No non-constant parameter blocks found.";
+ summary->termination_type = CONVERGENCE;
+ VLOG(1) << summary->message;
summary->initial_cost = summary->fixed_cost;
summary->final_cost = summary->fixed_cost;
- // FUNCTION_TOLERANCE is the right convergence here, as we know
- // that the objective function is constant and cannot be changed
- // any further.
- summary->termination_type = FUNCTION_TOLERANCE;
-
// Ensure the program state is set to the user parameters on the way out.
original_program->SetParameterBlockStatePtrsToUserStatePtrs();
original_program->SetParameterOffsetsAndIndex();
@@ -509,7 +499,7 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
}
scoped_ptr<LinearSolver>
- linear_solver(CreateLinearSolver(&options, &summary->error));
+ linear_solver(CreateLinearSolver(&options, &summary->message));
event_logger.AddEvent("CreateLinearSolver");
if (linear_solver == NULL) {
return;
@@ -536,7 +526,7 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
scoped_ptr<Evaluator> evaluator(CreateEvaluator(options,
problem_impl->parameter_map(),
reduced_program.get(),
- &summary->error));
+ &summary->message));
event_logger.AddEvent("CreateEvaluator");
@@ -556,7 +546,7 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
problem_impl->parameter_map(),
summary));
if (inner_iteration_minimizer == NULL) {
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
}
@@ -590,8 +580,8 @@ void SolverImpl::TrustRegionSolve(const Solver::Options& original_options,
// If the user aborted mid-optimization or the optimization
// terminated because of a numerical failure, then return without
// updating user state.
- if (summary->termination_type == USER_ABORT ||
- summary->termination_type == NUMERICAL_FAILURE) {
+ if (summary->termination_type == USER_FAILURE ||
+ summary->termination_type == FAILURE) {
return;
}
@@ -642,6 +632,8 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
*CHECK_NOTNULL(summary) = Solver::Summary();
summary->minimizer_type = LINE_SEARCH;
+ SummarizeGivenProgram(*original_program, summary);
+
summary->line_search_direction_type =
original_options.line_search_direction_type;
summary->max_lbfgs_rank = original_options.max_lbfgs_rank;
@@ -651,56 +643,50 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
summary->nonlinear_conjugate_gradient_type =
original_options.nonlinear_conjugate_gradient_type;
- summary->num_parameter_blocks = original_program->NumParameterBlocks();
- summary->num_parameters = original_program->NumParameters();
- summary->num_residual_blocks = original_program->NumResidualBlocks();
- summary->num_residuals = original_program->NumResiduals();
- summary->num_effective_parameters =
- original_program->NumEffectiveParameters();
-
// Validate values for configuration parameters supplied by user.
if ((original_options.line_search_direction_type == ceres::BFGS ||
original_options.line_search_direction_type == ceres::LBFGS) &&
original_options.line_search_type != ceres::WOLFE) {
- summary->error =
+ summary->message =
string("Invalid configuration: require line_search_type == "
"ceres::WOLFE when using (L)BFGS to ensure that underlying "
"assumptions are guaranteed to be satisfied.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.max_lbfgs_rank <= 0) {
- summary->error =
+ summary->message =
string("Invalid configuration: require max_lbfgs_rank > 0");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.min_line_search_step_size <= 0.0) {
- summary->error = "Invalid configuration: min_line_search_step_size <= 0.0.";
- LOG(ERROR) << summary->error;
+ summary->message =
+ "Invalid configuration: min_line_search_step_size <= 0.0.";
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.line_search_sufficient_function_decrease <= 0.0) {
- summary->error =
+ summary->message =
string("Invalid configuration: require ") +
string("line_search_sufficient_function_decrease <= 0.0.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.max_line_search_step_contraction <= 0.0 ||
original_options.max_line_search_step_contraction >= 1.0) {
- summary->error = string("Invalid configuration: require ") +
+ summary->message = string("Invalid configuration: require ") +
string("0.0 < max_line_search_step_contraction < 1.0.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.min_line_search_step_contraction <=
original_options.max_line_search_step_contraction ||
original_options.min_line_search_step_contraction > 1.0) {
- summary->error = string("Invalid configuration: require ") +
+ summary->message = string("Invalid configuration: require ") +
string("max_line_search_step_contraction < ") +
string("min_line_search_step_contraction <= 1.0.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
// Warn user if they have requested BISECTION interpolation, but constraints
@@ -718,37 +704,24 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
<< original_options.min_line_search_step_contraction
<< ", prevent bisection (0.5) scaling, continuing with solve regardless.";
if (original_options.max_num_line_search_step_size_iterations <= 0) {
- summary->error = string("Invalid configuration: require ") +
+ summary->message = string("Invalid configuration: require ") +
string("max_num_line_search_step_size_iterations > 0.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.line_search_sufficient_curvature_decrease <=
original_options.line_search_sufficient_function_decrease ||
original_options.line_search_sufficient_curvature_decrease > 1.0) {
- summary->error = string("Invalid configuration: require ") +
+ summary->message = string("Invalid configuration: require ") +
string("line_search_sufficient_function_decrease < ") +
string("line_search_sufficient_curvature_decrease < 1.0.");
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
if (original_options.max_line_search_step_expansion <= 1.0) {
- summary->error = string("Invalid configuration: require ") +
+ summary->message = string("Invalid configuration: require ") +
string("max_line_search_step_expansion > 1.0.");
- LOG(ERROR) << summary->error;
- return;
- }
-
- // Empty programs are usually a user error.
- if (summary->num_parameter_blocks == 0) {
- summary->error = "Problem contains no parameter blocks.";
- LOG(ERROR) << summary->error;
- return;
- }
-
- if (summary->num_residual_blocks == 0) {
- summary->error = "Problem contains no residual blocks.";
- LOG(ERROR) << summary->error;
+ LOG(ERROR) << summary->message;
return;
}
@@ -759,7 +732,6 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
// refactored to deal with the various bits of cleanups related to
// line search.
options.linear_solver_type = CGNR;
-
options.linear_solver_ordering = NULL;
options.inner_iteration_ordering = NULL;
@@ -777,8 +749,8 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
summary->num_threads_used = options.num_threads;
if (original_options.linear_solver_ordering != NULL) {
- if (!IsOrderingValid(original_options, problem_impl, &summary->error)) {
- LOG(ERROR) << summary->error;
+ if (!IsOrderingValid(original_options, problem_impl, &summary->message)) {
+ LOG(ERROR) << summary->message;
return;
}
options.linear_solver_ordering =
@@ -819,32 +791,23 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
scoped_ptr<Program> reduced_program(CreateReducedProgram(&options,
problem_impl,
&summary->fixed_cost,
- &summary->error));
+ &summary->message));
if (reduced_program == NULL) {
return;
}
- summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
- summary->num_parameters_reduced = reduced_program->NumParameters();
- summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
- summary->num_effective_parameters_reduced =
- reduced_program->NumEffectiveParameters();
- summary->num_residuals_reduced = reduced_program->NumResiduals();
-
+ SummarizeReducedProgram(*reduced_program, summary);
if (summary->num_parameter_blocks_reduced == 0) {
summary->preprocessor_time_in_seconds =
WallTimeInSeconds() - solver_start_time;
- LOG(INFO) << "Terminating: FUNCTION_TOLERANCE reached. "
- << "No non-constant parameter blocks found.";
-
- // FUNCTION_TOLERANCE is the right convergence here, as we know
- // that the objective function is constant and cannot be changed
- // any further.
- summary->termination_type = FUNCTION_TOLERANCE;
+ summary->message =
+ "Terminating: Function tolerance reached. "
+ "No non-constant parameter blocks found.";
+ summary->termination_type = CONVERGENCE;
+ VLOG(1) << summary->message;
const double post_process_start_time = WallTimeInSeconds();
-
SetSummaryFinalCost(summary);
// Ensure the program state is set to the user parameters on the way out.
@@ -859,7 +822,7 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
scoped_ptr<Evaluator> evaluator(CreateEvaluator(options,
problem_impl->parameter_map(),
reduced_program.get(),
- &summary->error));
+ &summary->message));
if (evaluator == NULL) {
return;
}
@@ -886,8 +849,8 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
// If the user aborted mid-optimization or the optimization
// terminated because of a numerical failure, then return without
// updating user state.
- if (summary->termination_type == USER_ABORT ||
- summary->termination_type == NUMERICAL_FAILURE) {
+ if (summary->termination_type == USER_FAILURE ||
+ summary->termination_type == FAILURE) {
return;
}
@@ -1456,7 +1419,7 @@ CoordinateDescentMinimizer* SolverImpl::CreateInnerIterationMinimizer(
for ( ; it != group_to_elements.end(); ++it) {
if (!IsParameterBlockSetIndependent(it->second,
program.residual_blocks())) {
- summary->error =
+ summary->message =
StringPrintf("The user-provided "
"parameter_blocks_for_inner_iterations does not "
"form an independent set. Group Id: %d", it->first);
@@ -1469,7 +1432,7 @@ CoordinateDescentMinimizer* SolverImpl::CreateInnerIterationMinimizer(
if (!inner_iteration_minimizer->Init(program,
parameter_map,
*ordering_ptr,
- &summary->error)) {
+ &summary->message)) {
return NULL;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-01 22:52:57 +0300