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/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.
