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/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
