| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/callbacks.h" |
| |
| #include <algorithm> |
| #include <iostream> // NO LINT |
| #include <string> |
| |
| #include "ceres/program.h" |
| #include "ceres/stringprintf.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| StateUpdatingCallback::StateUpdatingCallback(Program* program, |
| double* parameters) |
| : program_(program), parameters_(parameters) {} |
| |
| StateUpdatingCallback::~StateUpdatingCallback() = default; |
| |
| CallbackReturnType StateUpdatingCallback::operator()( |
| const IterationSummary& /*summary*/) { |
| program_->StateVectorToParameterBlocks(parameters_); |
| program_->CopyParameterBlockStateToUserState(); |
| return SOLVER_CONTINUE; |
| } |
| |
| GradientProblemSolverStateUpdatingCallback:: |
| GradientProblemSolverStateUpdatingCallback( |
| int num_parameters, |
| const double* internal_parameters, |
| double* user_parameters) |
| : num_parameters_(num_parameters), |
| internal_parameters_(internal_parameters), |
| user_parameters_(user_parameters) {} |
| |
| GradientProblemSolverStateUpdatingCallback:: |
| ~GradientProblemSolverStateUpdatingCallback() = default; |
| |
| CallbackReturnType GradientProblemSolverStateUpdatingCallback::operator()( |
| const IterationSummary& summary) { |
| if (summary.step_is_successful) { |
| std::copy_n(internal_parameters_, num_parameters_, user_parameters_); |
| } |
| return SOLVER_CONTINUE; |
| } |
| |
| LoggingCallback::LoggingCallback(const MinimizerType minimizer_type, |
| const bool log_to_stdout) |
| : minimizer_type(minimizer_type), log_to_stdout_(log_to_stdout) {} |
| |
| LoggingCallback::~LoggingCallback() = default; |
| |
| CallbackReturnType LoggingCallback::operator()( |
| const IterationSummary& summary) { |
| std::string output; |
| if (minimizer_type == LINE_SEARCH) { |
| output = StringPrintf( |
| "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e s:% 3.2e e:% 3d it:% 3.2e " |
| "tt:% 3.2e", |
| summary.iteration, |
| summary.cost, |
| summary.cost_change, |
| summary.gradient_max_norm, |
| summary.step_norm, |
| summary.step_size, |
| summary.line_search_function_evaluations, |
| summary.iteration_time_in_seconds, |
| summary.cumulative_time_in_seconds); |
| } else if (minimizer_type == TRUST_REGION) { |
| // clang-format off |
| if (summary.iteration == 0) { |
| output = "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n"; // NOLINT |
| } |
| output += StringPrintf( |
| "% 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 4d % 3.2e % 3.2e", // NOLINT |
| // clang-format on |
| summary.iteration, |
| summary.cost, |
| summary.cost_change, |
| summary.gradient_max_norm, |
| summary.step_norm, |
| summary.relative_decrease, |
| summary.trust_region_radius, |
| summary.linear_solver_iterations, |
| summary.iteration_time_in_seconds, |
| summary.cumulative_time_in_seconds); |
| } else { |
| LOG(FATAL) << "Unknown minimizer type."; |
| } |
| |
| if (log_to_stdout_) { |
| std::cout << output << std::endl; |
| } else { |
| VLOG(1) << output; |
| } |
| return SOLVER_CONTINUE; |
| } |
| |
| } // namespace ceres::internal |