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