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// 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
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