Dogleg strategy and timing cleanups.
1. A new dogleg trust region strategy.
2. Consistent naming of all variables taking and reporting
time. Also all are doubles now.
3. Enum to stringification routines.
4. bundle_adjuster.cc accepts max solver time and trust_region_strategy.
5. Time accounting is pushed into solver_impl.cc and there is now
postprocessing time accounted for explicitly.
6. IterationCallback now has cumulative time.
7. LoggingCallback logs per iteration and cumulative time.
8. TrustRegionStrategy now allows for Invalid steps to be indicated
explicitly.
9. Trust region minimizer actually terminates on max_solver_time.
Change-Id: I7e3b82c8beebc17b6b355ea46ddd280754a2d8b2
diff --git a/include/ceres/iteration_callback.h b/include/ceres/iteration_callback.h
index 6d7720c..29157d3 100644
--- a/include/ceres/iteration_callback.h
+++ b/include/ceres/iteration_callback.h
@@ -91,15 +91,15 @@
// Newton step.
int linear_solver_iterations;
- // TODO(sameeragarwal): Change the following two to use a higher
- // precision timer using clock_gettime.
- //
// Time (in seconds) spent inside the minimizer loop in the current
// iteration.
- int iteration_time_sec;
+ double iteration_time_in_seconds;
// Time (in seconds) spent inside the trust region step solver.
- int step_solver_time_sec;
+ double step_solver_time_in_seconds;
+
+ // Time (in seconds) since the user called Solve().
+ double cumulative_time_in_seconds;
};
// Interface for specifying callbacks that are executed at the end of
diff --git a/include/ceres/solver.h b/include/ceres/solver.h
index 12351ab..5ca15e9 100644
--- a/include/ceres/solver.h
+++ b/include/ceres/solver.h
@@ -59,7 +59,7 @@
Options() {
trust_region_strategy_type = LEVENBERG_MARQUARDT;
max_num_iterations = 50;
- max_solver_time_sec = 1e9;
+ max_solver_time_in_seconds = 1e9;
num_threads = 1;
initial_trust_region_radius = 1e4;
max_trust_region_radius = 1e16;
@@ -117,7 +117,7 @@
int max_num_iterations;
// Maximum time for which the minimizer should run for.
- double max_solver_time_sec;
+ double max_solver_time_in_seconds;
// Number of threads used by Ceres for evaluating the cost and
// jacobians.
@@ -377,8 +377,21 @@
int num_successful_steps;
int num_unsuccessful_steps;
+ // When the user calls Solve, before the actual optimization
+ // occurs, Ceres performs a number of preprocessing steps. These
+ // include error checks, memory allocations, and reorderings. This
+ // time is accounted for as preprocessing time.
double preprocessor_time_in_seconds;
+
+ // Time spent in the TrustRegionMinimizer.
double minimizer_time_in_seconds;
+
+ // After the Minimizer is finished, some time is spent in
+ // re-evaluating residuals etc. This time is accounted for in the
+ // postprocessor time.
+ double postprocessor_time_in_seconds;
+
+ // Some total of all time spent inside Ceres when Solve is called.
double total_time_in_seconds;
// Preprocessor summary.
diff --git a/include/ceres/types.h b/include/ceres/types.h
index 705097f..0dcb354 100644
--- a/include/ceres/types.h
+++ b/include/ceres/types.h
@@ -158,8 +158,29 @@
PER_MINIMIZER_ITERATION
};
+// Ceres supports different strategies for computing the trust region
+// step.
enum TrustRegionStrategyType {
+ // The default trust region strategy is to use the step computation
+ // used in the Levenberg-Marquardt algorithm. For more details see
+ // levenberg_marquardt_strategy.h
LEVENBERG_MARQUARDT,
+
+ // Powell's dogleg algorithm interpolates between the Cauchy point
+ // and the Gauss-Newton step. It is particularly useful if the
+ // LEVENBERG_MARQUARDT algorithm is making a large number of
+ // unsuccessful steps. For more details see dogleg_strategy.h.
+ //
+ // NOTES:
+ //
+ // 1. This strategy has not been experimented with or tested as
+ // extensively as LEVENBERG_MARQUARDT, and therefore it should be
+ // considered EXPERIMENTAL for now.
+ //
+ // 2. For now this strategy should only be used with exact
+ // factorization based linear solvers, i.e., SPARSE_SCHUR,
+ // DENSE_SCHUR, DENSE_QR and SPARSE_NORMAL_CHOLESKY.
+ DOGLEG
};
enum SolverTerminationType {
@@ -261,7 +282,9 @@
LinearSolverTerminationType type);
const char* OrderingTypeToString(OrderingType type);
const char* SolverTerminationTypeToString(SolverTerminationType type);
-
+const char* SparseLinearAlgebraLibraryTypeToString(
+ SparseLinearAlgebraLibraryType type);
+const char* TrustRegionStrategyTypeToString( TrustRegionStrategyType type);
bool IsSchurType(LinearSolverType type);
} // namespace ceres
