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/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();
