commit fa01519c474ace99017c444a73424f9fc7c83cc2
author Sameer Agarwal <sameeragarwal@google.com> Mon Jun 11 14:21:42 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Mon Jun 11 22:16:02 2012 -0700
tree 1fa7ba7909909a9f1d618175e5602706d210fd48
parent d432f78389e08baa5f2717f225097f38d611e082

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

internal/ceres/solver_impl.cc

diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index fde5811..41b6d75 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -97,7 +97,7 @@
   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";
+        "rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e";
     string output = StringPrintf(kReportRowFormat,
                                  summary.iteration,
                                  summary.cost,
@@ -106,7 +106,9 @@
                                  summary.step_norm,
                                  summary.relative_decrease,
                                  summary.trust_region_radius,
-                                 summary.linear_solver_iterations);
+                                 summary.linear_solver_iterations,
+                                 summary.iteration_time_in_seconds,
+                                 summary.cumulative_time_in_seconds);
     if (log_to_stdout_) {
       cout << output << endl;
     } else {
@@ -164,6 +166,7 @@
 void SolverImpl::Solve(const Solver::Options& original_options,
                        Problem* problem,
                        Solver::Summary* summary) {
+  time_t solver_start_time = time(NULL);
   Solver::Options options(original_options);
 
 #ifndef CERES_USE_OPENMP
@@ -273,6 +276,10 @@
   // Collect the discontiguous parameters into a contiguous state vector.
   reduced_program->ParameterBlocksToStateVector(parameters.data());
 
+  time_t minimizer_start_time = time(NULL);
+  summary->preprocessor_time_in_seconds =
+      minimizer_start_time - solver_start_time;
+
   // Run the optimization.
   Minimize(options,
            reduced_program.get(),
@@ -289,6 +296,7 @@
     return;
   }
 
+  time_t post_process_start_time = time(NULL);
   // Push the contiguous optimized parameters back to the user's parameters.
   reduced_program->StateVectorToParameterBlocks(parameters.data());
   reduced_program->CopyParameterBlockStateToUserState();
@@ -301,6 +309,9 @@
                            : NULL);
 
   // Stick a fork in it, we're done.
+  time_t post_process_end_time = time(NULL);
+  summary->postprocessor_time_in_seconds =
+      post_process_end_time - post_process_start_time;
   return;
 }