Add support for reporting linear solver and inner iteration
orderings.
Change-Id: I0588a4285e0925ce689e47bd48ddcc61ce596a1f
diff --git a/include/ceres/numeric_diff_functor.h b/include/ceres/numeric_diff_functor.h
index 14adbed..40c0f9c 100644
--- a/include/ceres/numeric_diff_functor.h
+++ b/include/ceres/numeric_diff_functor.h
@@ -133,7 +133,7 @@
}
bool operator()(const double* x0, double* residuals) const {
- functor_(x0, residuals);
+ return functor_(x0, residuals);
}
bool operator()(const double* x0,
@@ -228,7 +228,7 @@
template <typename T>
bool operator()(const T* x0, T* residuals) const {
- functor_(x0, residuals);
+ return functor_(x0, residuals);
}
template <typename T>
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index b8be006..9ad7e50 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -687,11 +687,18 @@
LinearSolverType linear_solver_type_given;
LinearSolverType linear_solver_type_used;
+ vector<int> linear_solver_ordering_given;
+ vector<int> linear_solver_ordering_used;
+
PreconditionerType preconditioner_type;
TrustRegionStrategyType trust_region_strategy_type;
DoglegType dogleg_type;
SparseLinearAlgebraLibraryType sparse_linear_algebra_library;
+
+ bool inner_iterations;
+ vector<int> inner_iteration_ordering_given;
+ vector<int> inner_iteration_ordering_used;
};
// Once a least squares problem has been built, this function takes
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 450a710..af32629 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -40,6 +40,21 @@
#include "ceres/wall_time.h"
namespace ceres {
+namespace {
+
+void StringifyOrdering(const vector<int>& ordering, string* report) {
+ if (ordering.size() == 0) {
+ internal::StringAppendF(report, "AUTOMATIC");
+ return;
+ }
+
+ for (int i = 0; i < ordering.size() - 1; ++i) {
+ internal::StringAppendF(report, "%d, ", ordering[i]);
+ }
+ internal::StringAppendF(report, "%d", ordering.back());
+}
+
+} // namespace
Solver::Options::~Options() {
delete linear_solver_ordering;
@@ -95,7 +110,8 @@
linear_solver_type_used(SPARSE_NORMAL_CHOLESKY),
preconditioner_type(IDENTITY),
trust_region_strategy_type(LEVENBERG_MARQUARDT),
- sparse_linear_algebra_library(SUITE_SPARSE) {
+ sparse_linear_algebra_library(SUITE_SPARSE),
+ inner_iterations(false) {
}
string Solver::Summary::BriefReport() const {
@@ -125,114 +141,137 @@
};
string Solver::Summary::FullReport() const {
+ using internal::StringAppendF;
+
string report =
"\n"
"Ceres Solver Report\n"
"-------------------\n";
if (termination_type == DID_NOT_RUN) {
- internal::StringAppendF(&report, " Original\n");
- internal::StringAppendF(&report, "Parameter blocks % 10d\n",
- num_parameter_blocks);
- internal::StringAppendF(&report, "Parameters % 10d\n",
- num_parameters);
- internal::StringAppendF(&report, "Residual blocks % 10d\n",
- num_residual_blocks);
- internal::StringAppendF(&report, "Residuals % 10d\n\n",
- num_residuals);
+ StringAppendF(&report, " Original\n");
+ StringAppendF(&report, "Parameter blocks % 10d\n",
+ num_parameter_blocks);
+ StringAppendF(&report, "Parameters % 10d\n",
+ num_parameters);
+ StringAppendF(&report, "Residual blocks % 10d\n",
+ num_residual_blocks);
+ StringAppendF(&report, "Residuals % 10d\n\n",
+ num_residuals);
} else {
- internal::StringAppendF(&report, "%45s %21s\n", "Original", "Reduced");
- internal::StringAppendF(&report, "Parameter blocks % 25d% 25d\n",
- num_parameter_blocks, num_parameter_blocks_reduced);
- internal::StringAppendF(&report, "Parameters % 25d% 25d\n",
- num_parameters, num_parameters_reduced);
- internal::StringAppendF(&report, "Residual blocks % 25d% 25d\n",
- num_residual_blocks, num_residual_blocks_reduced);
- internal::StringAppendF(&report, "Residual % 25d% 25d\n\n",
- num_residuals, num_residuals_reduced);
+ StringAppendF(&report, "%45s %21s\n", "Original", "Reduced");
+ StringAppendF(&report, "Parameter blocks % 25d% 25d\n",
+ num_parameter_blocks, num_parameter_blocks_reduced);
+ StringAppendF(&report, "Parameters % 25d% 25d\n",
+ num_parameters, num_parameters_reduced);
+ StringAppendF(&report, "Residual blocks % 25d% 25d\n",
+ num_residual_blocks, num_residual_blocks_reduced);
+ StringAppendF(&report, "Residual % 25d% 25d\n",
+ num_residuals, num_residuals_reduced);
}
- internal::StringAppendF(&report, "%45s %21s\n", "Given", "Used");
- internal::StringAppendF(&report, "Linear solver %25s%25s\n",
- LinearSolverTypeToString(linear_solver_type_given),
- LinearSolverTypeToString(linear_solver_type_used));
-
- if (linear_solver_type_given == CGNR ||
- linear_solver_type_given == ITERATIVE_SCHUR) {
- internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
- PreconditionerTypeToString(preconditioner_type),
- PreconditionerTypeToString(preconditioner_type));
- } else {
- internal::StringAppendF(&report, "Preconditioner %25s%25s\n",
- "N/A", "N/A");
- }
-
- // TODO(sameeragarwal): Add support for logging the ordering object.
- internal::StringAppendF(&report, "Threads: % 25d% 25d\n",
- num_threads_given, num_threads_used);
- internal::StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
- num_linear_solver_threads_given,
- num_linear_solver_threads_used);
-
if (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY ||
linear_solver_type_used == SPARSE_SCHUR ||
(linear_solver_type_used == ITERATIVE_SCHUR &&
(preconditioner_type == SCHUR_JACOBI ||
preconditioner_type == CLUSTER_JACOBI ||
preconditioner_type == CLUSTER_TRIDIAGONAL))) {
- internal::StringAppendF(&report, "\nSparse Linear Algebra Library %15s\n",
- SparseLinearAlgebraLibraryTypeToString(
+ StringAppendF(&report, "\nSparse Linear Algebra Library %15s\n",
+ SparseLinearAlgebraLibraryTypeToString(
sparse_linear_algebra_library));
}
- internal::StringAppendF(&report, "Trust Region Strategy %19s",
- TrustRegionStrategyTypeToString(
+ StringAppendF(&report, "Trust Region Strategy %19s",
+ TrustRegionStrategyTypeToString(
trust_region_strategy_type));
if (trust_region_strategy_type == DOGLEG) {
if (dogleg_type == TRADITIONAL_DOGLEG) {
- internal::StringAppendF(&report, " (TRADITIONAL)");
+ StringAppendF(&report, " (TRADITIONAL)");
} else {
- internal::StringAppendF(&report, " (SUBSPACE)");
+ StringAppendF(&report, " (SUBSPACE)");
}
}
- internal::StringAppendF(&report, "\n");
+ StringAppendF(&report, "\n");
+ StringAppendF(&report, "\n");
+ StringAppendF(&report, "%45s %21s\n", "Given", "Used");
+ StringAppendF(&report, "Linear solver %25s%25s\n",
+ LinearSolverTypeToString(linear_solver_type_given),
+ LinearSolverTypeToString(linear_solver_type_used));
+
+ if (linear_solver_type_given == CGNR ||
+ linear_solver_type_given == ITERATIVE_SCHUR) {
+ StringAppendF(&report, "Preconditioner %25s%25s\n",
+ PreconditionerTypeToString(preconditioner_type),
+ PreconditionerTypeToString(preconditioner_type));
+ } else {
+ StringAppendF(&report, "Preconditioner %25s%25s\n",
+ "N/A", "N/A");
+ }
+
+ StringAppendF(&report, "Threads: % 25d% 25d\n",
+ num_threads_given, num_threads_used);
+ StringAppendF(&report, "Linear solver threads % 23d% 25d\n",
+ num_linear_solver_threads_given,
+ num_linear_solver_threads_used);
+
+ if (IsSchurType(linear_solver_type_used)) {
+ string given;
+ StringifyOrdering(linear_solver_ordering_given, &given);
+ string used;
+ StringifyOrdering(linear_solver_ordering_used, &used);
+ StringAppendF(&report,
+ "Linear solver ordering %22s %24s\n",
+ given.c_str(),
+ used.c_str());
+ }
+
+ if (inner_iterations) {
+ string given;
+ StringifyOrdering(inner_iteration_ordering_given, &given);
+ string used;
+ StringifyOrdering(inner_iteration_ordering_used, &used);
+ StringAppendF(&report,
+ "Inner iteration ordering %20s %24s\n",
+ given.c_str(),
+ used.c_str());
+ }
if (termination_type == DID_NOT_RUN) {
CHECK(!error.empty())
<< "Solver terminated with DID_NOT_RUN but the solver did not "
<< "return a reason. This is a Ceres error. Please report this "
<< "to the Ceres team";
- internal::StringAppendF(&report, "Termination: %20s\n",
- "DID_NOT_RUN");
- internal::StringAppendF(&report, "Reason: %s\n", error.c_str());
+ StringAppendF(&report, "Termination: %20s\n",
+ "DID_NOT_RUN");
+ StringAppendF(&report, "Reason: %s\n", error.c_str());
return report;
}
- internal::StringAppendF(&report, "\nCost:\n");
- internal::StringAppendF(&report, "Initial % 30e\n", initial_cost);
+ StringAppendF(&report, "\nCost:\n");
+ StringAppendF(&report, "Initial % 30e\n", initial_cost);
if (termination_type != NUMERICAL_FAILURE && termination_type != USER_ABORT) {
- internal::StringAppendF(&report, "Final % 30e\n", final_cost);
- internal::StringAppendF(&report, "Change % 30e\n",
- initial_cost - final_cost);
+ StringAppendF(&report, "Final % 30e\n", final_cost);
+ StringAppendF(&report, "Change % 30e\n",
+ initial_cost - final_cost);
}
- internal::StringAppendF(&report, "\nNumber of iterations:\n");
- internal::StringAppendF(&report, "Successful % 20d\n",
- num_successful_steps);
- internal::StringAppendF(&report, "Unsuccessful % 20d\n",
- num_unsuccessful_steps);
- internal::StringAppendF(&report, "Total % 20d\n",
- num_successful_steps + num_unsuccessful_steps);
- internal::StringAppendF(&report, "\nTime (in seconds):\n");
- internal::StringAppendF(&report, "Preprocessor % 25e\n",
- preprocessor_time_in_seconds);
- internal::StringAppendF(&report, "Minimizer % 25e\n",
- minimizer_time_in_seconds);
- internal::StringAppendF(&report, "Total % 25e\n",
- total_time_in_seconds);
+ StringAppendF(&report, "\nNumber of iterations:\n");
+ StringAppendF(&report, "Successful % 20d\n",
+ num_successful_steps);
+ StringAppendF(&report, "Unsuccessful % 20d\n",
+ num_unsuccessful_steps);
+ StringAppendF(&report, "Total % 20d\n",
+ num_successful_steps + num_unsuccessful_steps);
+ StringAppendF(&report, "\nTime (in seconds):\n");
+ StringAppendF(&report, "Preprocessor % 25e\n",
+ preprocessor_time_in_seconds);
+ StringAppendF(&report, "Minimizer % 25e\n",
+ minimizer_time_in_seconds);
+ StringAppendF(&report, "Total % 25e\n",
+ total_time_in_seconds);
- internal::StringAppendF(&report, "Termination: %25s\n",
+ StringAppendF(&report, "Termination: %25s\n",
SolverTerminationTypeToString(termination_type));
return report;
};
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 4e0f133..50c96e5 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -177,6 +177,22 @@
FILE* fptr_;
};
+void SummarizeOrdering(ParameterBlockOrdering* ordering,
+ vector<int>* summary) {
+ CHECK_NOTNULL(summary)->clear();
+ if (ordering == NULL) {
+ return;
+ }
+
+ const map<int, set<double*> >& group_to_elements =
+ ordering->group_to_elements();
+ for (map<int, set<double*> >::const_iterator it = group_to_elements.begin();
+ it != group_to_elements.end();
+ ++it) {
+ summary->push_back(it->second.size());
+ }
+}
+
} // namespace
void SolverImpl::TrustRegionMinimize(
@@ -318,6 +334,12 @@
return;
}
+ SummarizeOrdering(original_options.linear_solver_ordering,
+ &(summary->linear_solver_ordering_given));
+
+ SummarizeOrdering(original_options.inner_iteration_ordering,
+ &(summary->inner_iteration_ordering_given));
+
Solver::Options options(original_options);
options.linear_solver_ordering = NULL;
options.inner_iteration_ordering = NULL;
@@ -418,6 +440,9 @@
return;
}
+ SummarizeOrdering(options.linear_solver_ordering,
+ &(summary->linear_solver_ordering_used));
+
summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
summary->num_parameters_reduced = reduced_program->NumParameters();
summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
@@ -516,7 +541,7 @@
CreateInnerIterationMinimizer(original_options,
*reduced_program,
problem_impl->parameter_map(),
- &summary->error));
+ summary));
if (inner_iteration_minimizer == NULL) {
LOG(ERROR) << summary->error;
return;
@@ -1390,7 +1415,7 @@
const Solver::Options& options,
const Program& program,
const ProblemImpl::ParameterMap& parameter_map,
- string* error) {
+ Solver::Summary* summary) {
scoped_ptr<CoordinateDescentMinimizer> inner_iteration_minimizer(
new CoordinateDescentMinimizer);
scoped_ptr<ParameterBlockOrdering> inner_iteration_ordering;
@@ -1416,7 +1441,7 @@
for ( ;it != group_to_elements.end(); ++it) {
if (!IsParameterBlockSetIndependent(it->second,
program.residual_blocks())) {
- *error =
+ summary->error =
StringPrintf("The user-provided "
"parameter_blocks_for_inner_iterations does not "
"form an independent set. Group Id: %d", it->first);
@@ -1429,10 +1454,13 @@
if (!inner_iteration_minimizer->Init(program,
parameter_map,
*ordering_ptr,
- error)) {
+ &summary->error)) {
return NULL;
}
+ summary->inner_iterations = true;
+ SummarizeOrdering(ordering_ptr, &(summary->inner_iteration_ordering_used));
+
return inner_iteration_minimizer.release();
}
diff --git a/internal/ceres/solver_impl.h b/internal/ceres/solver_impl.h
index 92c37fb..c9848fb 100644
--- a/internal/ceres/solver_impl.h
+++ b/internal/ceres/solver_impl.h
@@ -148,7 +148,7 @@
const Solver::Options& options,
const Program& program,
const ProblemImpl::ParameterMap& parameter_map,
- string* error);
+ Solver::Summary* summary);
};
} // namespace internal
