Consolidate SolverTerminationType enum.
1. Rename SolverTerminationType to TerminationType.
2. Consolidate the enum as
a. CONVERGENCE - subsumes FUNCTION_TOLERANCE, PARAMETER_TOLERANCE and GRADIENT_TOLERANCE
b. NO_CONVERGENCE
c. FAILURE - captures all kinds of failures including DID_NOT_RUN.
d. USER_SUCCESS
e. USER_FAILURE
3. Solver::Summary::error is renamed to be Solver::Summary::message, to both
reduce confusion as well as capture its true meaning.
Change-Id: I27a382e66e67f5a4750d0ee914d941f6b53c326d
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index 67e168c..da87de1 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -85,8 +85,8 @@
// Invalid values for most fields, to ensure that we are not
// accidentally reporting default values.
: minimizer_type(TRUST_REGION),
- termination_type(DID_NOT_RUN),
- error("ceres::Solve was not called."),
+ termination_type(FAILURE),
+ message("ceres::Solve was not called."),
initial_cost(-1.0),
final_cost(-1.0),
fixed_cost(-1.0),
@@ -131,64 +131,40 @@
max_lbfgs_rank(-1) {
}
-string Solver::Summary::BriefReport() const {
- string report = "Ceres Solver Report: ";
- if (termination_type == DID_NOT_RUN) {
- return report + "Termination: DID_NOT_RUN, because " + error;
- }
-
- internal::StringAppendF(&report, "Iterations: %d",
- num_successful_steps + num_unsuccessful_steps);
- internal::StringAppendF(&report, ", Initial cost: %e", initial_cost);
-
- // If the solver failed or was aborted, then the final_cost has no
- // meaning.
- if (termination_type != NUMERICAL_FAILURE &&
- termination_type != USER_ABORT) {
- internal::StringAppendF(&report, ", Final cost: %e", final_cost);
- }
-
- internal::StringAppendF(&report, ", Termination: %s.",
- SolverTerminationTypeToString(termination_type));
- return report;
-};
-
using internal::StringAppendF;
using internal::StringPrintf;
+string Solver::Summary::BriefReport() const {
+ return StringPrintf("Ceres Solver Report: "
+ "Iterations: %d, "
+ "Initial cost: %e, "
+ "Final cost: %e, "
+ "Termination: %s",
+ num_successful_steps + num_unsuccessful_steps,
+ initial_cost,
+ final_cost,
+ TerminationTypeToString(termination_type));
+};
+
string Solver::Summary::FullReport() const {
string report =
"\n"
"Ceres Solver Report\n"
"-------------------\n";
- 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);
- 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",
- num_residuals);
- } else {
- 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);
- 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",
- 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);
+ 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",
+ num_residuals, num_residuals_reduced);
if (minimizer_type == TRUST_REGION) {
// TRUST_SEARCH HEADER
@@ -314,17 +290,10 @@
num_threads_given, num_threads_used);
}
- if (termination_type == DID_NOT_RUN) {
- StringAppendF(&report, "Termination: %20s\n",
- "DID_NOT_RUN");
- StringAppendF(&report, "Reason: %s\n", error.c_str());
- return report;
- }
-
StringAppendF(&report, "\nCost:\n");
StringAppendF(&report, "Initial % 30e\n", initial_cost);
- if (termination_type != NUMERICAL_FAILURE &&
- termination_type != USER_ABORT) {
+ if (termination_type != FAILURE &&
+ termination_type != USER_FAILURE) {
StringAppendF(&report, "Final % 30e\n", final_cost);
StringAppendF(&report, "Change % 30e\n",
initial_cost - final_cost);
@@ -376,8 +345,14 @@
total_time_in_seconds);
StringAppendF(&report, "Termination: %25s\n",
- SolverTerminationTypeToString(termination_type));
+ TerminationTypeToString(termination_type));
return report;
};
+bool Solver::Summary::IsSolutionUsable() const {
+ return (termination_type == CONVERGENCE ||
+ termination_type == NO_CONVERGENCE ||
+ termination_type == USER_SUCCESS);
+}
+
} // namespace ceres
