A bunch of minor changes.
1. Fix a typo in auto_diff_cost_function.h
2. Fix and update Solver::Summary::FullReport() text labels.
3. Add logging of the number of residual and jacobian evaluations
to the full report. The GradientProblemSolver already does this.
Change-Id: I41059af5f0ebe0417accbbc30b0808a4b04b9edb
diff --git a/docs/source/nnls_solving.rst b/docs/source/nnls_solving.rst
index 56b3ab9..4dd17ec 100644
--- a/docs/source/nnls_solving.rst
+++ b/docs/source/nnls_solving.rst
@@ -2045,10 +2045,18 @@
Time (in seconds) spent evaluating the residual vector.
+.. member:: int Solver::Summary::num_residual_evaluations
+
+ Number of times only the residuals were evaluated.
+
.. member:: double Solver::Summary::jacobian_evaluation_time_in_seconds
Time (in seconds) spent evaluating the Jacobian matrix.
+.. member:: int Solver::Summary::num_jacobian_evaluations
+
+ Number of times only the Jacobian and the residuals were evaluated.
+
.. member:: double Solver::Summary::inner_iteration_time_in_seconds
Time (in seconds) spent doing inner iterations.
diff --git a/include/ceres/autodiff_cost_function.h b/include/ceres/autodiff_cost_function.h
index e7893e4..490fb3d 100644
--- a/include/ceres/autodiff_cost_function.h
+++ b/include/ceres/autodiff_cost_function.h
@@ -197,7 +197,7 @@
// Implementation details follow; clients of the autodiff cost function should
// not have to examine below here.
//
- // To handle varardic cost functions, some template magic is needed. It's
+ // To handle variadic cost functions, some template magic is needed. It's
// mostly hidden inside autodiff.h.
virtual bool Evaluate(double const* const* parameters,
double* residuals,
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index 96391ba..3a55a65 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -844,9 +844,15 @@
// Time (in seconds) spent evaluating the residual vector.
double residual_evaluation_time_in_seconds;
+ // Number of residual only evaluations.
+ int num_residual_evaluations;
+
// Time (in seconds) spent evaluating the jacobian matrix.
double jacobian_evaluation_time_in_seconds;
+ // Number of Jacobian (and residual) evaluations.
+ int num_jacobian_evaluations;
+
// Time (in seconds) spent doing inner iterations.
double inner_iteration_time_in_seconds;
diff --git a/internal/ceres/execution_summary.h b/internal/ceres/execution_summary.h
index aa9929d..80f1af8 100644
--- a/internal/ceres/execution_summary.h
+++ b/internal/ceres/execution_summary.h
@@ -44,6 +44,12 @@
// Struct used by various objects to report statistics and other
// information about their execution. e.g., ExecutionSummary::times
// can be used for reporting times associated with various activities.
+//
+// TODO(https://github.com/ceres-solver/ceres-solver/issues/340):
+// Replace the two maps by one to save on a lookup, since the usage
+// pattern is to keep track of the calls and the time increment at the
+// same time.
+//
class ExecutionSummary {
public:
void IncrementTimeBy(const std::string& name, const double value) {
@@ -76,6 +82,7 @@
~ScopedExecutionTimer() {
summary_->IncrementTimeBy(name_, WallTimeInSeconds() - start_time_);
+ summary_->IncrementCall(name_);
}
private:
diff --git a/internal/ceres/gradient_problem_evaluator.h b/internal/ceres/gradient_problem_evaluator.h
index 9ccd10e..69e0e8a 100644
--- a/internal/ceres/gradient_problem_evaluator.h
+++ b/internal/ceres/gradient_problem_evaluator.h
@@ -67,8 +67,6 @@
ScopedExecutionTimer call_type_timer(
gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
&execution_summary_);
- execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Residual"
- : "Evaluator::Jacobian");
return problem_.Evaluate(state, cost, gradient);
}
diff --git a/internal/ceres/gradient_problem_solver.cc b/internal/ceres/gradient_problem_solver.cc
index 920d735..b22c5a1 100644
--- a/internal/ceres/gradient_problem_solver.cc
+++ b/internal/ceres/gradient_problem_solver.cc
@@ -276,7 +276,7 @@
StringAppendF(&report, "\n Cost evaluation %23.6f (%d)\n",
cost_evaluation_time_in_seconds,
num_cost_evaluations);
- StringAppendF(&report, " Gradient evaluation %23.6f (%d)\n",
+ StringAppendF(&report, " Gradient & cost evaluation %16.6f (%d)\n",
gradient_evaluation_time_in_seconds,
num_gradient_evaluations);
StringAppendF(&report, " Polynomial minimization %17.6f\n",
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index bee0e19..4d1db50 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -404,6 +404,13 @@
FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
summary->jacobian_evaluation_time_in_seconds =
FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
+
+ const map<string, int>& evaluator_call_statistics =
+ pp.evaluator->CallStatistics();
+ summary->num_residual_evaluations =
+ FindWithDefault(evaluator_call_statistics, "Evaluator::Residual", 0);
+ summary->num_jacobian_evaluations =
+ FindWithDefault(evaluator_call_statistics, "Evaluator::Jacobian", 0);
}
// Again, like the evaluator, there may or may not be a linear
@@ -627,7 +634,9 @@
total_time_in_seconds(-1.0),
linear_solver_time_in_seconds(-1.0),
residual_evaluation_time_in_seconds(-1.0),
+ num_residual_evaluations(-1),
jacobian_evaluation_time_in_seconds(-1.0),
+ num_jacobian_evaluations(-1),
inner_iteration_time_in_seconds(-1.0),
line_search_cost_evaluation_time_in_seconds(-1.0),
line_search_gradient_evaluation_time_in_seconds(-1.0),
@@ -696,7 +705,7 @@
}
StringAppendF(&report, "Residual blocks % 25d% 25d\n",
num_residual_blocks, num_residual_blocks_reduced);
- StringAppendF(&report, "Residual % 25d% 25d\n",
+ StringAppendF(&report, "Residuals % 25d% 25d\n",
num_residuals, num_residuals_reduced);
if (minimizer_type == TRUST_REGION) {
@@ -866,14 +875,14 @@
StringAppendF(&report, "Preprocessor %25.6f\n",
preprocessor_time_in_seconds);
- StringAppendF(&report, "\n Residual evaluation %23.6f\n",
- residual_evaluation_time_in_seconds);
+ StringAppendF(&report, "\n Residual only evaluation %18.6f (%d)\n",
+ residual_evaluation_time_in_seconds, num_residual_evaluations);
if (line_search_used) {
StringAppendF(&report, " Line search cost evaluation %10.6f\n",
line_search_cost_evaluation_time_in_seconds);
}
- StringAppendF(&report, " Jacobian evaluation %23.6f\n",
- jacobian_evaluation_time_in_seconds);
+ StringAppendF(&report, " Jacobian & residual evaluation %12.6f (%d)\n",
+ jacobian_evaluation_time_in_seconds, num_jacobian_evaluations);
if (line_search_used) {
StringAppendF(&report, " Line search gradient evaluation %6.6f\n",
line_search_gradient_evaluation_time_in_seconds);
