Add support for reporting linear solver and inner iteration
orderings.
Change-Id: I0588a4285e0925ce689e47bd48ddcc61ce596a1f
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;
};
