Add a TrustRegionStrategy::Summary object.
Change-Id: I7caee35a3408ee4a0ec16ba407410d822929340d
diff --git a/internal/ceres/dogleg_strategy.cc b/internal/ceres/dogleg_strategy.cc
index 44d484f..4b1f074 100644
--- a/internal/ceres/dogleg_strategy.cc
+++ b/internal/ceres/dogleg_strategy.cc
@@ -71,7 +71,7 @@
// gradient) and the new Gauss-Newton step are computed from
// scratch. The Dogleg step is then computed as interpolation of these
// two vectors.
-LinearSolver::Summary DoglegStrategy::ComputeStep(
+TrustRegionStrategy::Summary DoglegStrategy::ComputeStep(
const TrustRegionStrategy::PerSolveOptions& per_solve_options,
SparseMatrix* jacobian,
const double* residuals,
@@ -85,10 +85,10 @@
// Gauss-Newton and gradient vectors are always available, only a
// new interpolant need to be computed.
ComputeDoglegStep(step);
- LinearSolver::Summary linear_solver_summary;
- linear_solver_summary.num_iterations = 0;
- linear_solver_summary.termination_type = TOLERANCE;
- return linear_solver_summary;
+ TrustRegionStrategy::Summary summary;
+ summary.num_iterations = 0;
+ summary.termination_type = TOLERANCE;
+ return summary;
}
reuse_ = true;
@@ -123,7 +123,11 @@
ComputeDoglegStep(step);
}
- return linear_solver_summary;
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+ return summary;
}
// The trust region is assumed to be elliptical with the
diff --git a/internal/ceres/dogleg_strategy.h b/internal/ceres/dogleg_strategy.h
index 1505655..8c2ff7b 100644
--- a/internal/ceres/dogleg_strategy.h
+++ b/internal/ceres/dogleg_strategy.h
@@ -53,11 +53,10 @@
virtual ~DoglegStrategy() {}
// TrustRegionStrategy interface
- virtual LinearSolver::Summary ComputeStep(
- const TrustRegionStrategy::PerSolveOptions& per_solve_options,
- SparseMatrix* jacobian,
- const double* residuals,
- double* step);
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step);
virtual void StepAccepted(double step_quality);
virtual void StepRejected(double step_quality);
virtual void StepIsInvalid();
diff --git a/internal/ceres/levenberg_marquardt_strategy.cc b/internal/ceres/levenberg_marquardt_strategy.cc
index 576648a..af76c42 100644
--- a/internal/ceres/levenberg_marquardt_strategy.cc
+++ b/internal/ceres/levenberg_marquardt_strategy.cc
@@ -61,7 +61,7 @@
LevenbergMarquardtStrategy::~LevenbergMarquardtStrategy() {
}
-LinearSolver::Summary LevenbergMarquardtStrategy::ComputeStep(
+TrustRegionStrategy::Summary LevenbergMarquardtStrategy::ComputeStep(
const TrustRegionStrategy::PerSolveOptions& per_solve_options,
SparseMatrix* jacobian,
const double* residuals,
@@ -113,7 +113,12 @@
}
reuse_diagonal_ = true;
- return linear_solver_summary;
+
+ TrustRegionStrategy::Summary summary;
+ summary.residual_norm = linear_solver_summary.residual_norm;
+ summary.num_iterations = linear_solver_summary.num_iterations;
+ summary.termination_type = linear_solver_summary.termination_type;
+ return summary;
}
void LevenbergMarquardtStrategy::StepAccepted(double step_quality) {
diff --git a/internal/ceres/levenberg_marquardt_strategy.h b/internal/ceres/levenberg_marquardt_strategy.h
index 4ed1390..90c2178 100644
--- a/internal/ceres/levenberg_marquardt_strategy.h
+++ b/internal/ceres/levenberg_marquardt_strategy.h
@@ -31,7 +31,7 @@
#ifndef CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
#define CERES_INTERNAL_LEVENBERG_MARQUARDT_STRATEGY_H_
-#include "ceres/linear_solver.h"
+#include "ceres/internal/eigen.h"
#include "ceres/trust_region_strategy.h"
namespace ceres {
@@ -48,7 +48,7 @@
virtual ~LevenbergMarquardtStrategy();
// TrustRegionStrategy interface
- virtual LinearSolver::Summary ComputeStep(
+ virtual TrustRegionStrategy::Summary ComputeStep(
const TrustRegionStrategy::PerSolveOptions& per_solve_options,
SparseMatrix* jacobian,
const double* residuals,
diff --git a/internal/ceres/levenberg_marquardt_strategy_test.cc b/internal/ceres/levenberg_marquardt_strategy_test.cc
index 22f04aa..6f61dd1 100644
--- a/internal/ceres/levenberg_marquardt_strategy_test.cc
+++ b/internal/ceres/levenberg_marquardt_strategy_test.cc
@@ -28,14 +28,15 @@
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
-
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/levenberg_marquardt_strategy.h"
+#include "ceres/linear_solver.h"
+#include "ceres/trust_region_strategy.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gmock/mock-log.h"
#include "gtest/gtest.h"
-#include "ceres/trust_region_strategy.h"
-#include "ceres/levenberg_marquardt_strategy.h"
-#include "ceres/internal/eigen.h"
using testing::AllOf;
using testing::AnyNumber;
@@ -147,7 +148,7 @@
EXPECT_CALL(log, Log(WARNING, _,
HasSubstr("Failed to compute a finite step.")));
- LinearSolver::Summary summary = lms.ComputeStep(pso, &dsm, &residual, x);
+ TrustRegionStrategy::Summary summary = lms.ComputeStep(pso, &dsm, &residual, x);
EXPECT_EQ(summary.termination_type, FAILURE);
}
}
diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc
index 476cc9d..19e3f35 100644
--- a/internal/ceres/trust_region_minimizer.cc
+++ b/internal/ceres/trust_region_minimizer.cc
@@ -250,7 +250,7 @@
const time_t strategy_start_time = time(NULL);
TrustRegionStrategy::PerSolveOptions per_solve_options;
per_solve_options.eta = options_.eta;
- LinearSolver::Summary strategy_summary =
+ TrustRegionStrategy::Summary strategy_summary =
strategy->ComputeStep(per_solve_options,
jacobian,
residuals.data(),
diff --git a/internal/ceres/trust_region_strategy.h b/internal/ceres/trust_region_strategy.h
index 8d5977e..7d94ca2 100644
--- a/internal/ceres/trust_region_strategy.h
+++ b/internal/ceres/trust_region_strategy.h
@@ -31,11 +31,14 @@
#ifndef CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
#define CERES_INTERNAL_TRUST_REGION_STRATEGY_H_
-#include "ceres/linear_solver.h"
+#include "ceres/types.h"
namespace ceres {
namespace internal {
+class LinearSolver;
+class SparseMatrix;
+
// Interface for classes implementing various trust region strategies
// for nonlinear least squares problems.
//
@@ -79,14 +82,38 @@
double eta;
};
+ struct Summary {
+ Summary()
+ : residual_norm(0.0),
+ num_iterations(-1),
+ termination_type(FAILURE) {
+ }
+
+ // If the trust region problem is,
+ //
+ // 1/2 x'Ax + b'x + c,
+ //
+ // then
+ //
+ // residual_norm = |Ax -b|
+ double residual_norm;
+
+ // Number of iterations used by the linear solver. If a linear
+ // solver was not called (e.g., DogLegStrategy after an
+ // unsuccessful step), then this would be zero.
+ int num_iterations;
+
+ // Status of the linear solver used to solve the Newton system.
+ LinearSolverTerminationType termination_type;
+ };
+
virtual ~TrustRegionStrategy();
// Use the current radius to solve for the trust region step.
- virtual LinearSolver::Summary ComputeStep(
- const PerSolveOptions& per_solve_options,
- SparseMatrix* jacobian,
- const double* residuals,
- double* step) = 0;
+ virtual Summary ComputeStep(const PerSolveOptions& per_solve_options,
+ SparseMatrix* jacobian,
+ const double* residuals,
+ double* step) = 0;
// Inform the strategy that the current step has been accepted, and
// that the ratio of the decrease in the non-linear objective to the
