Add IterationSummary::step_is_nonmonotonic.
So that IterationCallback objects know the kind of step that they
are dealing with.
Change-Id: I7782b211af882bd7b67307c3c23d8021cb56e8ab
diff --git a/include/ceres/ceres.h b/include/ceres/ceres.h
index 1ea782a..b28c016 100644
--- a/include/ceres/ceres.h
+++ b/include/ceres/ceres.h
@@ -34,8 +34,8 @@
#ifndef CERES_PUBLIC_CERES_H_
#define CERES_PUBLIC_CERES_H_
-#define CERES_VERSION 1.3.0
-#define CERES_ABI_VERSION 1.3.0
+#define CERES_VERSION 1.4.0
+#define CERES_ABI_VERSION 1.4.0
#include "ceres/autodiff_cost_function.h"
#include "ceres/cost_function.h"
diff --git a/include/ceres/iteration_callback.h b/include/ceres/iteration_callback.h
index 29157d3..57cf0a6 100644
--- a/include/ceres/iteration_callback.h
+++ b/include/ceres/iteration_callback.h
@@ -42,6 +42,21 @@
// This struct describes the state of the optimizer after each
// iteration of the minimization.
struct IterationSummary {
+ IterationSummary()
+ : iteration(0),
+ step_is_valid(false),
+ step_is_nonmonotonic(false),
+ step_is_successful(false),
+ cost(0.0),
+ cost_change(0.0),
+ gradient_max_norm(0.0),
+ step_norm(0.0),
+ eta(0.0),
+ linear_solver_iterations(0),
+ iteration_time_in_seconds(0.0),
+ step_solver_time_in_seconds(0.0),
+ cumulative_time_in_seconds(0.0) {}
+
// Current iteration number.
int32 iteration;
@@ -51,7 +66,22 @@
// Note: step_is_valid is false when iteration = 0.
bool step_is_valid;
- // Whether or not the algorithm made progress in this iteration.
+ // Step did not reduce the value of the objective function
+ // sufficiently, but it was accepted because of the relaxed
+ // acceptance criterion used by the non-monotonic trust region
+ // algorithm.
+ //
+ // Note: step_is_nonmonotonic is false when iteration = 0;
+ bool step_is_nonmonotonic;
+
+ // Whether or not the minimizer accepted this step or not. If the
+ // ordinary trust region algorithm is used, this means that the
+ // relative reduction in the objective function value was greater
+ // than Solver::Options::min_relative_decrease. However, if the
+ // non-monotonic trust region algorithm is used
+ // (Solver::Options:use_nonmonotonic_steps = true), then even if the
+ // relative decrease is not sufficient, the algorithm may accept the
+ // step and the step is declared successful.
//
// Note: step_is_successful is false when iteration = 0.
bool step_is_successful;
@@ -60,8 +90,7 @@
double cost;
// Change in the value of the objective function in this
- // iteration. This can be positive or negative. Negative change
- // means that the step was not successful.
+ // iteration. This can be positive or negative.
double cost_change;
// Infinity norm of the gradient vector.
diff --git a/internal/ceres/trust_region_minimizer.cc b/internal/ceres/trust_region_minimizer.cc
index 9f93deb..dd49f9e 100644
--- a/internal/ceres/trust_region_minimizer.cc
+++ b/internal/ceres/trust_region_minimizer.cc
@@ -397,6 +397,7 @@
accumulated_candidate_model_cost_change += model_cost_change;
accumulated_reference_model_cost_change += model_cost_change;
if (relative_decrease <= options_.min_relative_decrease) {
+ iteration_summary.step_is_nonmonotonic = true;
VLOG(2) << "Non-monotonic step! "
<< " relative_decrease: " << relative_decrease
<< " historical_relative_decrease: "
