Reduce verbosity of the inner iteration minimizer.
Add Minimizer::Options::is_silent which allows the user
to turn off the logging inside the minimizer completely.
In particularly this is used for silencing the logging
when inner iterations are used.
Add VLOG_IF to miniglog.
Change-Id: I4dc56e726eb012b4bbf750dc92adedba1a6d9c38
diff --git a/internal/ceres/line_search_minimizer.cc b/internal/ceres/line_search_minimizer.cc
index 5533e20..6ee514a 100644
--- a/internal/ceres/line_search_minimizer.cc
+++ b/internal/ceres/line_search_minimizer.cc
@@ -93,6 +93,7 @@
void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
double* parameters,
Solver::Summary* summary) {
+ const bool is_not_silent = !options.is_silent;
double start_time = WallTimeInSeconds();
double iteration_start_time = start_time;
@@ -124,7 +125,8 @@
// Do initial cost and Jacobian evaluation.
if (!Evaluate(evaluator, x, ¤t_state)) {
- LOG(WARNING) << "Terminating: Cost and gradient evaluation failed.";
+ LOG_IF(WARNING, is_not_silent)
+ << "Terminating: Cost and gradient evaluation failed.";
summary->termination_type = NUMERICAL_FAILURE;
return;
}
@@ -142,11 +144,12 @@
options.gradient_tolerance * initial_gradient_max_norm;
if (iteration_summary.gradient_max_norm <= absolute_gradient_tolerance) {
+ VLOG_IF(1, is_not_silent)
+ << "Terminating: Gradient tolerance reached."
+ << "Relative gradient max norm: "
+ << iteration_summary.gradient_max_norm / initial_gradient_max_norm
+ << " <= " << options.gradient_tolerance;
summary->termination_type = GRADIENT_TOLERANCE;
- VLOG(1) << "Terminating: Gradient tolerance reached."
- << "Relative gradient max norm: "
- << iteration_summary.gradient_max_norm / initial_gradient_max_norm
- << " <= " << options.gradient_tolerance;
return;
}
@@ -193,8 +196,9 @@
line_search_options,
&summary->error));
if (line_search.get() == NULL) {
- LOG(ERROR) << "Ceres bug: Unable to create a LineSearch object, please "
- << "contact the developers!, error: " << summary->error;
+ LOG_IF(ERROR, is_not_silent)
+ << "Ceres bug: Unable to create a LineSearch object, please "
+ << "contact the developers!, error: " << summary->error;
summary->termination_type = DID_NOT_RUN;
return;
}
@@ -209,16 +213,17 @@
iteration_start_time = WallTimeInSeconds();
if (iteration_summary.iteration >= options.max_num_iterations) {
+ VLOG_IF(1, is_not_silent)
+ << "Terminating: Maximum number of iterations reached.";
summary->termination_type = NO_CONVERGENCE;
- VLOG(1) << "Terminating: Maximum number of iterations reached.";
break;
}
const double total_solver_time = iteration_start_time - start_time +
summary->preprocessor_time_in_seconds;
if (total_solver_time >= options.max_solver_time_in_seconds) {
+ VLOG_IF(1, is_not_silent) << "Terminating: Maximum solver time reached.";
summary->termination_type = NO_CONVERGENCE;
- VLOG(1) << "Terminating: Maximum solver time reached.";
break;
}
@@ -247,10 +252,10 @@
StringPrintf("Line search direction failure: specified "
"max_num_line_search_direction_restarts: %d reached.",
options.max_num_line_search_direction_restarts);
- LOG(WARNING) << summary->error << " terminating optimization.";
+ LOG_IF(WARNING, is_not_silent) << summary->error
+ << " terminating optimization.";
summary->termination_type = NUMERICAL_FAILURE;
break;
-
} else if (!line_search_status) {
// Restart line search direction with gradient descent on first iteration
// as we have not yet reached our maximum number of restarts.
@@ -258,13 +263,16 @@
options.max_num_line_search_direction_restarts);
++num_line_search_direction_restarts;
- LOG(WARNING)
+ LOG_IF(WARNING, is_not_silent)
<< "Line search direction algorithm: "
- << LineSearchDirectionTypeToString(options.line_search_direction_type)
- << ", failed to produce a valid new direction at iteration: "
- << iteration_summary.iteration << ". Restarting, number of "
- << "restarts: " << num_line_search_direction_restarts << " / "
- << options.max_num_line_search_direction_restarts << " [max].";
+ << LineSearchDirectionTypeToString(
+ options.line_search_direction_type)
+ << ", failed to produce a valid new direction at "
+ << "iteration: " << iteration_summary.iteration
+ << ". Restarting, number of restarts: "
+ << num_line_search_direction_restarts << " / "
+ << options.max_num_line_search_direction_restarts
+ << " [max].";
line_search_direction.reset(
LineSearchDirection::Create(line_search_direction_options));
current_state.search_direction = -current_state.gradient;
@@ -295,7 +303,7 @@
"(current_cost - previous_cost): %.5e",
initial_step_size, current_state.directional_derivative,
(current_state.cost - previous_state.cost));
- LOG(WARNING) << summary->error;
+ LOG_IF(WARNING, is_not_silent) << summary->error;
summary->termination_type = NUMERICAL_FAILURE;
break;
}
@@ -314,20 +322,23 @@
// TODO(sameeragarwal): Collect stats.
if (!evaluator->Plus(x.data(), delta.data(), x_plus_delta.data())) {
- LOG(WARNING) << "x_plus_delta = Plus(x, delta) failed. ";
+ LOG_IF(WARNING, is_not_silent)
+ << "x_plus_delta = Plus(x, delta) failed. ";
} else if (!Evaluate(evaluator, x_plus_delta, ¤t_state)) {
- LOG(WARNING) << "Step failed to evaluate. ";
+ LOG_IF(WARNING, is_not_silent) << "Step failed to evaluate. ";
} else {
x = x_plus_delta;
}
iteration_summary.gradient_max_norm = current_state.gradient_max_norm;
if (iteration_summary.gradient_max_norm <= absolute_gradient_tolerance) {
+ VLOG_IF(1, is_not_silent)
+ << "Terminating: Gradient tolerance reached."
+ << "Relative gradient max norm: "
+ << (iteration_summary.gradient_max_norm /
+ initial_gradient_max_norm)
+ << " <= " << options.gradient_tolerance;
summary->termination_type = GRADIENT_TOLERANCE;
- VLOG(1) << "Terminating: Gradient tolerance reached."
- << "Relative gradient max norm: "
- << iteration_summary.gradient_max_norm / initial_gradient_max_norm
- << " <= " << options.gradient_tolerance;
break;
}
@@ -335,10 +346,11 @@
const double absolute_function_tolerance =
options.function_tolerance * previous_state.cost;
if (fabs(iteration_summary.cost_change) < absolute_function_tolerance) {
- VLOG(1) << "Terminating. Function tolerance reached. "
- << "|cost_change|/cost: "
- << fabs(iteration_summary.cost_change) / previous_state.cost
- << " <= " << options.function_tolerance;
+ VLOG_IF(1, is_not_silent)
+ << "Terminating. Function tolerance reached. "
+ << "|cost_change|/cost: "
+ << fabs(iteration_summary.cost_change) / previous_state.cost
+ << " <= " << options.function_tolerance;
summary->termination_type = FUNCTION_TOLERANCE;
return;
}
