Move IterationCallbacks into their own file. 1. Merge TrustRegionLoggingCallback and LineSearchLoggingCallback into a single callback. 2. Move the callbacks into callback.h 3. Update SolverImpl to use the new callbacks. Change-Id: I9e82173cf2b828d023d96c57d1cba17f4832aeae
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index 1dd4090..18ff92b 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt
@@ -43,6 +43,7 @@ c_api.cc canonical_views_clustering.cc cgnr_solver.cc + callbacks.cc compressed_col_sparse_matrix_utils.cc compressed_row_jacobian_writer.cc compressed_row_sparse_matrix.cc
diff --git a/internal/ceres/callbacks.cc b/internal/ceres/callbacks.cc new file mode 100644 index 0000000..c551162 --- /dev/null +++ b/internal/ceres/callbacks.cc
@@ -0,0 +1,107 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2014 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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 <iostream> // NO LINT +#include "ceres/callbacks.h" +#include "ceres/program.h" +#include "ceres/stringprintf.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +StateUpdatingCallback::StateUpdatingCallback(Program* program, + double* parameters) + : program_(program), parameters_(parameters) {} + +StateUpdatingCallback::~StateUpdatingCallback() {} + +CallbackReturnType StateUpdatingCallback::operator()( + const IterationSummary& summary) { + if (summary.step_is_successful) { + program_->StateVectorToParameterBlocks(parameters_); + program_->CopyParameterBlockStateToUserState(); + } + 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() {} + +CallbackReturnType LoggingCallback::operator()( + const IterationSummary& summary) { + string output; + if (minimizer_type == LINE_SEARCH) { + const char* kReportRowFormat = + "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e " + "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e"; + output = StringPrintf(kReportRowFormat, + 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) { + const char* kReportRowFormat = + "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e " + "rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e"; + output = StringPrintf(kReportRowFormat, + 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_) { + cout << output << endl; + } else { + VLOG(1) << output; + } + return SOLVER_CONTINUE; +} + +} // namespace internal +} // namespace ceres
diff --git a/internal/ceres/callbacks.h b/internal/ceres/callbacks.h new file mode 100644 index 0000000..93704df --- /dev/null +++ b/internal/ceres/callbacks.h
@@ -0,0 +1,71 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2014 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) + +#ifndef CERES_INTERNAL_CALLBACKS_H_ +#define CERES_INTERNAL_CALLBACKS_H_ + +#include <string> +#include "ceres/iteration_callback.h" +#include "ceres/internal/port.h" + +namespace ceres { +namespace internal { + +class Program; + +// Callback for updating the externally visible state of parameter +// blocks. +class StateUpdatingCallback : public IterationCallback { + public: + StateUpdatingCallback(Program* program, double* parameters); + virtual ~StateUpdatingCallback(); + virtual CallbackReturnType operator()(const IterationSummary& summary); + private: + Program* program_; + double* parameters_; +}; + +// Callback for logging the state of the minimizer to STDERR or +// STDOUT depending on the user's preferences and logging level. +class LoggingCallback : public IterationCallback { + public: + LoggingCallback(MinimizerType minimizer_type, bool log_to_stdout); + virtual ~LoggingCallback(); + virtual CallbackReturnType operator()(const IterationSummary& summary); + + private: + const MinimizerType minimizer_type; + const bool log_to_stdout_; +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_CALLBACKS_H_
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc index 8148716..101439c 100644 --- a/internal/ceres/solver_impl.cc +++ b/internal/ceres/solver_impl.cc
@@ -35,6 +35,7 @@ #include <numeric> #include <string> #include "ceres/array_utils.h" +#include "ceres/callbacks.h" #include "ceres/coordinate_descent_minimizer.h" #include "ceres/cxsparse.h" #include "ceres/evaluator.h" @@ -61,26 +62,6 @@ namespace internal { namespace { -// Callback for updating the user's parameter blocks. Updates are only -// done if the step is successful. -class StateUpdatingCallback : public IterationCallback { - public: - StateUpdatingCallback(Program* program, double* parameters) - : program_(program), parameters_(parameters) {} - - CallbackReturnType operator()(const IterationSummary& summary) { - if (summary.step_is_successful) { - program_->StateVectorToParameterBlocks(parameters_); - program_->CopyParameterBlockStateToUserState(); - } - return SOLVER_CONTINUE; - } - - private: - Program* program_; - double* parameters_; -}; - void SetSummaryFinalCost(Solver::Summary* summary) { summary->final_cost = summary->initial_cost; // We need the loop here, instead of just looking at the last @@ -91,106 +72,6 @@ } } -// Callback for logging the state of the minimizer to STDERR or STDOUT -// depending on the user's preferences and logging level. -class TrustRegionLoggingCallback : public IterationCallback { - public: - explicit TrustRegionLoggingCallback(bool log_to_stdout) - : log_to_stdout_(log_to_stdout) {} - - ~TrustRegionLoggingCallback() {} - - CallbackReturnType operator()(const IterationSummary& summary) { - const char* kReportRowFormat = - "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e " - "rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e"; - string output = StringPrintf(kReportRowFormat, - 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); - if (log_to_stdout_) { - cout << output << endl; - } else { - VLOG(1) << output; - } - return SOLVER_CONTINUE; - } - - private: - const bool log_to_stdout_; -}; - -// Callback for logging the state of the minimizer to STDERR or STDOUT -// depending on the user's preferences and logging level. -class LineSearchLoggingCallback : public IterationCallback { - public: - explicit LineSearchLoggingCallback(bool log_to_stdout) - : log_to_stdout_(log_to_stdout) {} - - ~LineSearchLoggingCallback() {} - - CallbackReturnType operator()(const IterationSummary& summary) { - const char* kReportRowFormat = - "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e " - "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e"; - string output = StringPrintf(kReportRowFormat, - 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); - if (log_to_stdout_) { - cout << output << endl; - } else { - VLOG(1) << output; - } - return SOLVER_CONTINUE; - } - - private: - const bool log_to_stdout_; -}; - - -// Basic callback to record the execution of the solver to a file for -// offline analysis. -class FileLoggingCallback : public IterationCallback { - public: - explicit FileLoggingCallback(const string& filename) - : fptr_(NULL) { - fptr_ = fopen(filename.c_str(), "w"); - CHECK_NOTNULL(fptr_); - } - - virtual ~FileLoggingCallback() { - if (fptr_ != NULL) { - fclose(fptr_); - } - } - - virtual CallbackReturnType operator()(const IterationSummary& summary) { - fprintf(fptr_, - "%4d %e %e\n", - summary.iteration, - summary.cost, - summary.cumulative_time_in_seconds); - return SOLVER_CONTINUE; - } - private: - FILE* fptr_; -}; - // Iterate over each of the groups in order of their priority and fill // summary with their sizes. void SummarizeOrdering(ParameterBlockOrdering* ordering, @@ -422,8 +303,8 @@ // vector. program->ParameterBlocksToStateVector(parameters.data()); - TrustRegionLoggingCallback logging_callback( - options.minimizer_progress_to_stdout); + LoggingCallback logging_callback(TRUST_REGION, + options.minimizer_progress_to_stdout); if (options.logging_type != SILENT) { minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(), &logging_callback); @@ -487,8 +368,8 @@ // Collect the discontiguous parameters into a contiguous state vector. program->ParameterBlocksToStateVector(parameters.data()); - LineSearchLoggingCallback logging_callback( - options.minimizer_progress_to_stdout); + LoggingCallback logging_callback(LINE_SEARCH, + options.minimizer_progress_to_stdout); if (options.logging_type != SILENT) { minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(), &logging_callback);