Change logging for TRUST_REGION.
The current logging for trust region minimizer is very informative
but cryptic. Single or double letter abbreviations must be deciphered
to make sense of it.
Here is an alternate take on it.
Before:
0: f: 4.185660e+06 d: 0.00e+00 g: 2.16e+07 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 7.36e-02 tt: 3.47e-01
1: f: 1.980525e+05 d: 3.99e+06 g: 5.34e+06 h: 2.40e+03 rho: 9.60e-01 mu: 3.00e+04 li: 1 it: 1.80e-01 tt: 5.27e-01
2: f: 5.086543e+04 d: 1.47e+05 g: 2.11e+06 h: 1.01e+03 rho: 8.22e-01 mu: 4.09e+04 li: 1 it: 1.57e-01 tt: 6.84e-01
3: f: 1.859667e+04 d: 3.23e+04 g: 2.87e+05 h: 2.64e+02 rho: 9.85e-01 mu: 1.23e+05 li: 1 it: 1.50e-01 tt: 8.34e-01
4: f: 1.803857e+04 d: 5.58e+02 g: 2.69e+04 h: 8.66e+01 rho: 9.93e-01 mu: 3.69e+05 li: 1 it: 1.47e-01 tt: 9.82e-01
5: f: 1.803391e+04 d: 4.66e+00 g: 3.11e+02 h: 1.02e+01 rho: 1.00e+00 mu: 1.11e+06 li: 1 it: 1.51e-01 tt: 1.13e+00
After:
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 4.185660e+06 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 7.16e-02 3.27e-01
1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.77e-01 5.04e-01
2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.49e-01 6.54e-01
3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.45e-01 7.99e-01
4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.46e-01 9.45e-01
5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.48e-01 1.09e+00
Change-Id: I251f99d474028e07cb709965d513809c443884b6
diff --git a/internal/ceres/callbacks.cc b/internal/ceres/callbacks.cc
index c551162..d223633 100644
--- a/internal/ceres/callbacks.cc
+++ b/internal/ceres/callbacks.cc
@@ -77,10 +77,12 @@
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";
+ }
const char* kReportRowFormat =
- "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
- "rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e";
- output = StringPrintf(kReportRowFormat,
+ "% 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 3d % 3.2e % 3.2e";
+ output += StringPrintf(kReportRowFormat,
summary.iteration,
summary.cost,
summary.cost_change,
