Add the number of effective parameters to the final report.
Here is an example report, obtained by running:
bin/Debug/bundle_adjuster \
--input=../ceres-solver/data/problem-16-22106-pre.txt \
--linear_solver=iterative_schur \
--num_iterations=1 \
--alsologtostderr \
--use_local_parameterization \
--use_quaternions
Note that effective parameters is less than parameters by 16, which is the
number of cameras. In this case the local parameterization has a 3 dimensional
tangent space for the 4-dimensional quaternions.
Ceres Solver Report
-------------------
Original Reduced
Parameter blocks 22138 22138
Parameters 66478 66478
Effective parameters 66462 66462
Residual blocks 83718 83718
Residual 167436 167436
Minimizer TRUST_REGION
Trust Region Strategy LEVENBERG_MARQUARDT
Given Used
Linear solver ITERATIVE_SCHUR ITERATIVE_SCHUR
Preconditioner JACOBI JACOBI
Threads: 1 1
Linear solver threads 1 1
Linear solver ordering AUTOMATIC 22106, 32
Cost:
Initial 4.185660e+06
Final 7.221647e+04
Change 4.113443e+06
Number of iterations:
Successful 1
Unsuccessful 0
Total 1
Time (in seconds):
Preprocessor 0.697
Residual Evaluations 0.063
Jacobian Evaluations 27.608
Linear Solver 13.360
Minimizer 43.973
Postprocessor 0.004
Total 44.756
Termination: NO_CONVERGENCE
Change-Id: I6b6b8ac24f71bd187e67d95651290917642be74f
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index 122870c..8c2ff32 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -611,11 +611,13 @@
// Preprocessor summary.
int num_parameter_blocks;
int num_parameters;
+ int num_effective_parameters;
int num_residual_blocks;
int num_residuals;
int num_parameter_blocks_reduced;
int num_parameters_reduced;
+ int num_effective_parameters_reduced;
int num_residual_blocks_reduced;
int num_residuals_reduced;
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 6561bd9..ea9ff1f 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -100,10 +100,12 @@
jacobian_evaluation_time_in_seconds(-1.0),
num_parameter_blocks(-1),
num_parameters(-1),
+ num_effective_parameters(-1),
num_residual_blocks(-1),
num_residuals(-1),
num_parameter_blocks_reduced(-1),
num_parameters_reduced(-1),
+ num_effective_parameters_reduced(-1),
num_residual_blocks_reduced(-1),
num_residuals_reduced(-1),
num_threads_given(-1),
@@ -156,10 +158,12 @@
if (termination_type == DID_NOT_RUN) {
StringAppendF(&report, " Original\n");
- StringAppendF(&report, "Parameter blocks % 10d\n",
- num_parameter_blocks);
- StringAppendF(&report, "Parameters % 10d\n",
- num_parameters);
+ StringAppendF(&report, "Parameter blocks % 10d\n", num_parameter_blocks);
+ StringAppendF(&report, "Parameters % 10d\n", num_parameters);
+ if (num_effective_parameters != num_parameters) {
+ StringAppendF(&report, "Effective parameters% 10d\n", num_parameters);
+ }
+
StringAppendF(&report, "Residual blocks % 10d\n",
num_residual_blocks);
StringAppendF(&report, "Residuals % 10d\n\n",
@@ -170,6 +174,10 @@
num_parameter_blocks, num_parameter_blocks_reduced);
StringAppendF(&report, "Parameters % 25d% 25d\n",
num_parameters, num_parameters_reduced);
+ if (num_effective_parameters_reduced != num_parameters_reduced) {
+ StringAppendF(&report, "Effective parameters% 25d% 25d\n",
+ num_effective_parameters, num_effective_parameters_reduced);
+ }
StringAppendF(&report, "Residual blocks % 25d% 25d\n",
num_residual_blocks, num_residual_blocks_reduced);
StringAppendF(&report, "Residual % 25d% 25d\n",
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 5bcfdc6..16fdbf6 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -335,6 +335,8 @@
summary->minimizer_type = TRUST_REGION;
summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
summary->num_parameters = problem_impl->NumParameters();
+ summary->num_effective_parameters =
+ original_program->NumEffectiveParameters();
summary->num_residual_blocks = problem_impl->NumResidualBlocks();
summary->num_residuals = problem_impl->NumResiduals();
@@ -447,6 +449,8 @@
summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
summary->num_parameters_reduced = reduced_program->NumParameters();
+ summary->num_effective_parameters_reduced =
+ reduced_program->NumEffectiveParameters();
summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
summary->num_residuals_reduced = reduced_program->NumResiduals();
