Documentation update.
Update the documentation to reflect the new trust region solver
logging style.
Change-Id: Id2d6b9efeee86c690c349a225d344e9f97ddbcdf
diff --git a/docs/source/building.rst b/docs/source/building.rst
index fb20c68..eb0cd5b 100644
--- a/docs/source/building.rst
+++ b/docs/source/building.rst
@@ -134,55 +134,55 @@
this.
.. code-block:: bash
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
+ 1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
+ 2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
+ 3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.43e-01 7.92e-01
+ 4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.45e-01 9.36e-01
+ 5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00
+ 6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00
- 0: f: 4.185660e+06 d: 0.00e+00 g: 1.09e+08 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 8.73e-02 tt: 2.61e-01
- 1: f: 1.062590e+05 d: 4.08e+06 g: 8.99e+06 h: 5.36e+02 rho: 9.82e-01 mu: 3.00e+04 li: 1 it: 1.85e-01 tt: 4.46e-01
- 2: f: 4.992817e+04 d: 5.63e+04 g: 8.32e+06 h: 3.19e+02 rho: 6.52e-01 mu: 3.09e+04 li: 1 it: 1.74e-01 tt: 6.20e-01
- 3: f: 1.899774e+04 d: 3.09e+04 g: 1.60e+06 h: 1.24e+02 rho: 9.77e-01 mu: 9.26e+04 li: 1 it: 1.74e-01 tt: 7.94e-01
- 4: f: 1.808729e+04 d: 9.10e+02 g: 3.97e+05 h: 6.39e+01 rho: 9.51e-01 mu: 2.78e+05 li: 1 it: 1.73e-01 tt: 9.67e-01
- 5: f: 1.803399e+04 d: 5.33e+01 g: 1.48e+04 h: 1.23e+01 rho: 9.99e-01 mu: 8.33e+05 li: 1 it: 1.75e-01 tt: 1.14e+00
- 6: f: 1.803390e+04 d: 9.02e-02 g: 6.35e+01 h: 8.00e-01 rho: 1.00e+00 mu: 2.50e+06 li: 1 it: 1.75e-01 tt: 1.32e+00
+ Ceres Solver v1.10.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 22122 22122
+ Parameters 66462 66462
+ Residual blocks 83718 83718
+ Residual 167436 167436
- Ceres Solver Report
- -------------------
- Original Reduced
- Parameter blocks 22122 22122
- Parameters 66462 66462
- Residual blocks 83718 83718
- Residual 167436 167436
+ Minimizer TRUST_REGION
- Minimizer TRUST_REGION
+ Dense linear algebra library EIGEN
+ Trust region strategy LEVENBERG_MARQUARDT
- Dense linear algebra library EIGEN
- Trust region strategy LEVENBERG_MARQUARDT
+ Given Used
+ Linear solver DENSE_SCHUR DENSE_SCHUR
+ Threads 1 1
+ Linear solver threads 1 1
+ Linear solver ordering AUTOMATIC 22106, 16
- Given Used
- Linear solver DENSE_SCHUR DENSE_SCHUR
- Threads 1 1
- Linear solver threads 1 1
- Linear solver ordering AUTOMATIC 22106, 16
+ Cost:
+ Initial 4.185660e+06
+ Final 1.803390e+04
+ Change 4.167626e+06
- Cost:
- Initial 4.185660e+06
- Final 1.803390e+04
- Change 4.167626e+06
+ Minimizer iterations 6
+ Successful steps 6
+ Unsuccessful steps 0
- Minimizer iterations 6
- Successful steps 6
- Unsuccessful steps 0
+ Time (in seconds):
+ Preprocessor 0.261
- Time (in seconds):
- Preprocessor 0.173
+ Residual evaluation 0.082
+ Jacobian evaluation 0.412
+ Linear solver 0.442
+ Minimizer 1.051
- Residual evaluation 0.115
- Jacobian evaluation 0.498
- Linear solver 0.517
- Minimizer 1.242
+ Postprocessor 0.002
+ Total 1.357
- Postprocessor 0.003
- Total 1.437
-
- Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769750e-09 <= 1.000000e-06)
+ Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
.. section-osx:
diff --git a/docs/source/faqs.rst b/docs/source/faqs.rst
index 3dee336..73ad41d 100644
--- a/docs/source/faqs.rst
+++ b/docs/source/faqs.rst
@@ -169,16 +169,16 @@
./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
+ 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 7.50e-02 3.58e-01
+ 1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.84e-01 5.42e-01
+ 2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.53e-01 6.95e-01
+ 3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.71e-01 8.66e-01
+ 4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.61e-01 1.03e+00
+ 5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.49e-01 1.18e+00
- 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: 9.20e-02 tt: 3.35e-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: 1.99e-01 tt: 5.34e-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: 1.61e-01 tt: 6.95e-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: 1.63e-01 tt: 8.58e-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: 1.62e-01 tt: 1.02e+00
- 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: 1.61e-01 tt: 1.18e+00
-
- Ceres Solver Report
- -------------------
+ Ceres Solver v1.10.0 Solve Report
+ ----------------------------------
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
@@ -190,7 +190,7 @@
Sparse linear algebra library SUITE_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
- Given Used
+ Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 1 1
Linear solver threads 1 1
@@ -206,15 +206,15 @@
Unsuccessful steps 0
Time (in seconds):
- Preprocessor 0.243
+ Preprocessor 0.283
- Residual evaluation 0.053
- Jacobian evaluation 0.435
- Linear solver 0.371
- Minimizer 0.940
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
Postprocessor 0.002
- Total 1.221
+ Total 1.220
Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
@@ -225,17 +225,18 @@
.. code-block:: bash
Time (in seconds):
- Preprocessor 0.243
+ Preprocessor 0.283
- Residual evaluation 0.053
- Jacobian evaluation 0.435
- Linear solver 0.371
- Minimizer 0.940
+ Residual evaluation 0.061
+ Jacobian evaluation 0.361
+ Linear solver 0.382
+ Minimizer 0.895
Postprocessor 0.002
- Total 1.221
+ Total 1.220
- Which tell us that of the total 1.2 seconds, about .4 seconds was
+
+ Which tell us that of the total 1.2 seconds, about .3 seconds was
spent in the linear solver and the rest was mostly spent in
preprocessing and jacobian evaluation.
@@ -256,17 +257,19 @@
.. code-block:: bash
Time (in seconds):
- Preprocessor 0.058
+ Preprocessor 0.051
- Residual evaluation 0.050
- Jacobian evaluation 0.416
- Linear solver 0.360
- Minimizer 0.903
+ Residual evaluation 0.053
+ Jacobian evaluation 0.344
+ Linear solver 0.372
+ Minimizer 0.854
Postprocessor 0.002
- Total 0.998
+ Total 0.935
- The preprocessor time has gone down by more than 4x!.
+
+
+ The preprocessor time has gone down by more than 5.5x!.
Further Reading
===============
diff --git a/docs/source/solving.rst b/docs/source/solving.rst
index ed50da0..80d0d34 100644
--- a/docs/source/solving.rst
+++ b/docs/source/solving.rst
@@ -1377,28 +1377,29 @@
.. code-block:: bash
- 0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 6.91e-06 tt: 1.91e-03
- 1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li: 1 it: 2.81e-05 tt: 1.99e-03
- 2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li: 1 it: 1.00e-05 tt: 2.01e-03
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
+ 1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
+ 2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
Here
- #. ``f`` is the value of the objective function.
- #. ``d`` is the change in the value of the objective function if
- the step computed in this iteration is accepted.
- #. ``g`` is the max norm of the gradient.
- #. ``h`` is the change in the parameter vector.
- #. ``rho`` is the ratio of the actual change in the objective
+ #. ``cost`` is the value of the objective function.
+ #. ``cost_change`` is the change in the value of the objective
+ function if the step computed in this iteration is accepted.
+ #. ``|gradient|`` is the max norm of the gradient.
+ #. ``|step|`` is the change in the parameter vector.
+ #. ``tr_ratio`` is the ratio of the actual change in the objective
function value to the change in the the value of the trust
region model.
- #. ``mu`` is the size of the trust region radius.
- #. ``li`` is the number of linear solver iterations used to compute
- the trust region step. For direct/factorization based solvers it
- is always 1, for iterative solvers like ``ITERATIVE_SCHUR`` it
- is the number of iterations of the Conjugate Gradients
- algorithm.
- #. ``it`` is the time take by the current iteration.
- #. ``tt`` is the the total time taken by the minimizer.
+ #. ``tr_radius`` is the size of the trust region radius.
+ #. ``ls_iter`` is the number of linear solver iterations used to
+ compute the trust region step. For direct/factorization based
+ solvers it is always 1, for iterative solvers like
+ ``ITERATIVE_SCHUR`` it is the number of iterations of the
+ Conjugate Gradients algorithm.
+ #. ``iter_time`` is the time take by the current iteration.
+ #. ``total_time`` is the the total time taken by the minimizer.
For ``LINE_SEARCH_MINIMIZER`` the progress display looks like
diff --git a/docs/source/tutorial.rst b/docs/source/tutorial.rst
index a8c2d8e..79714f6 100644
--- a/docs/source/tutorial.rst
+++ b/docs/source/tutorial.rst
@@ -133,11 +133,12 @@
.. code-block:: bash
- 0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 6.91e-06 tt: 1.91e-03
- 1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li: 1 it: 2.81e-05 tt: 1.99e-03
- 2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li: 1 it: 1.00e-05 tt: 2.01e-03
- Ceres Solver Report: Iterations: 2, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE.
- x : 5 -> 10
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 5.33e-04 3.46e-03
+ 1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 5.00e-04 4.05e-03
+ 2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 1.60e-05 4.09e-03
+ Ceres Solver Report: Iterations: 2, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
+ x : 0.5 -> 10
Starting from a :math:`x=5`, the solver in two iterations goes to 10
[#f2]_. The careful reader will note that this is a linear problem and
@@ -373,21 +374,64 @@
.. code-block:: bash
- Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
- 0: f: 1.075000e+02 d: 0.00e+00 g: 1.55e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 0.00e+00 tt: 0.00e+00
- 1: f: 5.036190e+00 d: 1.02e+02 g: 2.00e+01 h: 2.16e+00 rho: 9.53e-01 mu: 3.00e+04 li: 1 it: 0.00e+00 tt: 0.00e+00
- 2: f: 3.148168e-01 d: 4.72e+00 g: 2.50e+00 h: 6.23e-01 rho: 9.37e-01 mu: 9.00e+04 li: 1 it: 0.00e+00 tt: 0.00e+00
- 3: f: 1.967760e-02 d: 2.95e-01 g: 3.13e-01 h: 3.08e-01 rho: 9.37e-01 mu: 2.70e+05 li: 1 it: 0.00e+00 tt: 0.00e+00
- 4: f: 1.229900e-03 d: 1.84e-02 g: 3.91e-02 h: 1.54e-01 rho: 9.37e-01 mu: 8.10e+05 li: 1 it: 0.00e+00 tt: 0.00e+00
- 5: f: 7.687123e-05 d: 1.15e-03 g: 4.89e-03 h: 7.69e-02 rho: 9.37e-01 mu: 2.43e+06 li: 1 it: 0.00e+00 tt: 0.00e+00
- 6: f: 4.804625e-06 d: 7.21e-05 g: 6.11e-04 h: 3.85e-02 rho: 9.37e-01 mu: 7.29e+06 li: 1 it: 0.00e+00 tt: 0.00e+00
- 7: f: 3.003028e-07 d: 4.50e-06 g: 7.64e-05 h: 1.92e-02 rho: 9.37e-01 mu: 2.19e+07 li: 1 it: 0.00e+00 tt: 0.00e+00
- 8: f: 1.877006e-08 d: 2.82e-07 g: 9.54e-06 h: 9.62e-03 rho: 9.37e-01 mu: 6.56e+07 li: 1 it: 0.00e+00 tt: 0.00e+00
- 9: f: 1.173223e-09 d: 1.76e-08 g: 1.19e-06 h: 4.81e-03 rho: 9.37e-01 mu: 1.97e+08 li: 1 it: 0.00e+00 tt: 0.00e+00
- 10: f: 7.333425e-11 d: 1.10e-09 g: 1.49e-07 h: 2.40e-03 rho: 9.37e-01 mu: 5.90e+08 li: 1 it: 0.00e+00 tt: 0.00e+00
- 11: f: 4.584044e-12 d: 6.88e-11 g: 1.86e-08 h: 1.20e-03 rho: 9.37e-01 mu: 1.77e+09 li: 1 it: 0.00e+00 tt: 0.00e+00
- Ceres Solver Report: Iterations: 12, Initial cost: 1.075000e+02, Final cost: 4.584044e-12, Termination: CONVERGENCE.
- Final x1 = 0.00116741, x2 = -0.000116741, x3 = 0.000190535, x4 = 0.000190535
+ Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 4.95e-04 2.30e-03
+ 1 5.036190e+00 1.02e+02 2.00e+01 2.16e+00 9.53e-01 3.00e+04 1 4.39e-05 2.40e-03
+ 2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 9.06e-06 2.43e-03
+ 3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 8.11e-06 2.45e-03
+ 4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 6.91e-06 2.48e-03
+ 5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 7.87e-06 2.50e-03
+ 6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 5.96e-06 2.52e-03
+ 7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 5.96e-06 2.55e-03
+ 8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 5.96e-06 2.57e-03
+ 9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 7.87e-06 2.60e-03
+ 10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 6.20e-06 2.63e-03
+ 11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 6.91e-06 2.65e-03
+ 12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 5.96e-06 2.67e-03
+ 13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 7.15e-06 2.69e-03
+
+ Ceres Solver v1.10.0 Solve Report
+ ----------------------------------
+ Original Reduced
+ Parameter blocks 4 4
+ Parameters 4 4
+ Residual blocks 4 4
+ Residual 4 4
+
+ Minimizer TRUST_REGION
+
+ Dense linear algebra library EIGEN
+ Trust region strategy LEVENBERG_MARQUARDT
+
+ Given Used
+ Linear solver DENSE_QR DENSE_QR
+ Threads 1 1
+ Linear solver threads 1 1
+
+ Cost:
+ Initial 1.075000e+02
+ Final 1.791438e-14
+ Change 1.075000e+02
+
+ Minimizer iterations 14
+ Successful steps 14
+ Unsuccessful steps 0
+
+ Time (in seconds):
+ Preprocessor 0.002
+
+ Residual evaluation 0.000
+ Jacobian evaluation 0.000
+ Linear solver 0.000
+ Minimizer 0.001
+
+ Postprocessor 0.000
+ Total 0.005
+
+ Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
+
+ Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
It is easy to see that the optimal solution to this problem is at
:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
@@ -461,24 +505,24 @@
.. code-block:: bash
- 0: f: 1.211734e+02 d: 0.00e+00 g: 3.61e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 0.00e+00 tt: 0.00e+00
- 1: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.52e-01 rho:-1.87e+01 mu: 5.00e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
- 2: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.51e-01 rho:-1.86e+01 mu: 1.25e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
- 3: f: 1.211734e+02 d:-2.19e+03 g: 3.61e+02 h: 7.48e-01 rho:-1.85e+01 mu: 1.56e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
- 4: f: 1.211734e+02 d:-2.02e+03 g: 3.61e+02 h: 7.22e-01 rho:-1.70e+01 mu: 9.77e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
- 5: f: 1.211734e+02 d:-7.34e+02 g: 3.61e+02 h: 5.78e-01 rho:-6.32e+00 mu: 3.05e-01 li: 1 it: 0.00e+00 tt: 0.00e+00
- 6: f: 3.306595e+01 d: 8.81e+01 g: 4.10e+02 h: 3.18e-01 rho: 1.37e+00 mu: 9.16e-01 li: 1 it: 0.00e+00 tt: 0.00e+00
- 7: f: 6.426770e+00 d: 2.66e+01 g: 1.81e+02 h: 1.29e-01 rho: 1.10e+00 mu: 2.75e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
- 8: f: 3.344546e+00 d: 3.08e+00 g: 5.51e+01 h: 3.05e-02 rho: 1.03e+00 mu: 8.24e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
- 9: f: 1.987485e+00 d: 1.36e+00 g: 2.33e+01 h: 8.87e-02 rho: 9.94e-01 mu: 2.47e+01 li: 1 it: 0.00e+00 tt: 0.00e+00
- 10: f: 1.211585e+00 d: 7.76e-01 g: 8.22e+00 h: 1.05e-01 rho: 9.89e-01 mu: 7.42e+01 li: 1 it: 0.00e+00 tt: 0.00e+00
- 11: f: 1.063265e+00 d: 1.48e-01 g: 1.44e+00 h: 6.06e-02 rho: 9.97e-01 mu: 2.22e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
- 12: f: 1.056795e+00 d: 6.47e-03 g: 1.18e-01 h: 1.47e-02 rho: 1.00e+00 mu: 6.67e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
- 13: f: 1.056751e+00 d: 4.39e-05 g: 3.79e-03 h: 1.28e-03 rho: 1.00e+00 mu: 2.00e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
- Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE.
- Initial m: 0 c: 0
- Final m: 0.291861 c: 0.131439
-
+ iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
+ 0 1.211734e+02 0.00e+00 3.61e+02 0.00e+00 0.00e+00 1.00e+04 0 5.34e-04 2.56e-03
+ 1 1.211734e+02 -2.21e+03 0.00e+00 7.52e-01 -1.87e+01 5.00e+03 1 4.29e-05 3.25e-03
+ 2 1.211734e+02 -2.21e+03 0.00e+00 7.51e-01 -1.86e+01 1.25e+03 1 1.10e-05 3.28e-03
+ 3 1.211734e+02 -2.19e+03 0.00e+00 7.48e-01 -1.85e+01 1.56e+02 1 1.41e-05 3.31e-03
+ 4 1.211734e+02 -2.02e+03 0.00e+00 7.22e-01 -1.70e+01 9.77e+00 1 1.00e-05 3.34e-03
+ 5 1.211734e+02 -7.34e+02 0.00e+00 5.78e-01 -6.32e+00 3.05e-01 1 1.00e-05 3.36e-03
+ 6 3.306595e+01 8.81e+01 4.10e+02 3.18e-01 1.37e+00 9.16e-01 1 2.79e-05 3.41e-03
+ 7 6.426770e+00 2.66e+01 1.81e+02 1.29e-01 1.10e+00 2.75e+00 1 2.10e-05 3.45e-03
+ 8 3.344546e+00 3.08e+00 5.51e+01 3.05e-02 1.03e+00 8.24e+00 1 2.10e-05 3.48e-03
+ 9 1.987485e+00 1.36e+00 2.33e+01 8.87e-02 9.94e-01 2.47e+01 1 2.10e-05 3.52e-03
+ 10 1.211585e+00 7.76e-01 8.22e+00 1.05e-01 9.89e-01 7.42e+01 1 2.10e-05 3.56e-03
+ 11 1.063265e+00 1.48e-01 1.44e+00 6.06e-02 9.97e-01 2.22e+02 1 2.60e-05 3.61e-03
+ 12 1.056795e+00 6.47e-03 1.18e-01 1.47e-02 1.00e+00 6.67e+02 1 2.10e-05 3.64e-03
+ 13 1.056751e+00 4.39e-05 3.79e-03 1.28e-03 1.00e+00 2.00e+03 1 2.10e-05 3.68e-03
+ Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE
+ Initial m: 0 c: 0
+ Final m: 0.291861 c: 0.131439
Starting from parameter values :math:`m = 0, c=0` with an initial
objective function value of :math:`121.173` Ceres finds a solution
