| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle) |
| // sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/solver.h" |
| |
| #include <vector> |
| #include "ceres/levenberg_marquardt.h" |
| #include "ceres/program.h" |
| #include "ceres/solver_impl.h" |
| #include "ceres/stringprintf.h" |
| #include "ceres/problem.h" |
| |
| namespace ceres { |
| |
| Solver::~Solver() {} |
| |
| // TODO(sameeragarwal): The timing code here should use a sub-second |
| // timer. |
| void Solver::Solve(const Solver::Options& options, |
| Problem* problem, |
| Solver::Summary* summary) { |
| time_t start_time_seconds = time(NULL); |
| internal::SolverImpl::Solve(options, problem, summary); |
| summary->total_time_in_seconds = time(NULL) - start_time_seconds; |
| summary->preprocessor_time_in_seconds = |
| summary->total_time_in_seconds - summary->minimizer_time_in_seconds; |
| } |
| |
| void Solve(const Solver::Options& options, |
| Problem* problem, |
| Solver::Summary* summary) { |
| time_t start_time_seconds = time(NULL); |
| internal::SolverImpl::Solve(options, problem, summary); |
| summary->total_time_in_seconds = time(NULL) - start_time_seconds; |
| summary->preprocessor_time_in_seconds = |
| summary->total_time_in_seconds - summary->minimizer_time_in_seconds; |
| } |
| |
| Solver::Summary::Summary() |
| // Invalid values for most fields, to ensure that we are not |
| // accidentally reporting default values. |
| : termination_type(DID_NOT_RUN), |
| initial_cost(-1.0), |
| final_cost(-1.0), |
| fixed_cost(-1.0), |
| num_successful_steps(-1), |
| num_unsuccessful_steps(-1), |
| preprocessor_time_in_seconds(-1.0), |
| minimizer_time_in_seconds(-1.0), |
| total_time_in_seconds(-1.0), |
| num_parameter_blocks(-1), |
| num_parameters(-1), |
| num_residual_blocks(-1), |
| num_residuals(-1), |
| num_parameter_blocks_reduced(-1), |
| num_parameters_reduced(-1), |
| num_residual_blocks_reduced(-1), |
| num_residuals_reduced(-1), |
| num_eliminate_blocks_given(-1), |
| num_eliminate_blocks_used(-1), |
| num_threads_given(-1), |
| num_threads_used(-1), |
| num_linear_solver_threads_given(-1), |
| num_linear_solver_threads_used(-1), |
| linear_solver_type_given(SPARSE_NORMAL_CHOLESKY), |
| linear_solver_type_used(SPARSE_NORMAL_CHOLESKY), |
| preconditioner_type(IDENTITY), |
| ordering_type(NATURAL) { |
| } |
| |
| string Solver::Summary::BriefReport() const { |
| string report = "Ceres Solver Report: "; |
| if (termination_type == DID_NOT_RUN) { |
| CHECK(!error.empty()) |
| << "Solver terminated with DID_NOT_RUN but the solver did not " |
| << "return a reason. This is a Ceres error. Please report this " |
| << "to the Ceres team"; |
| return report + "Termination: DID_NOT_RUN, because " + error; |
| } |
| |
| internal::StringAppendF(&report, "Iterations: %d", |
| num_successful_steps + num_unsuccessful_steps); |
| internal::StringAppendF(&report, ", Initial cost: %e", initial_cost); |
| |
| // If the solver failed or was aborted, then the final_cost has no |
| // meaning. |
| if (termination_type != NUMERICAL_FAILURE && |
| termination_type != USER_ABORT) { |
| internal::StringAppendF(&report, ", Final cost: %e", final_cost); |
| } |
| |
| internal::StringAppendF(&report, ", Termination: %s.", |
| SolverTerminationTypeToString(termination_type)); |
| return report; |
| }; |
| |
| string Solver::Summary::FullReport() const { |
| string report = |
| "\n" |
| "Ceres Solver Report\n" |
| "-------------------\n"; |
| |
| if (termination_type == DID_NOT_RUN) { |
| internal::StringAppendF(&report, " Original\n"); |
| internal::StringAppendF(&report, "Parameter blocks % 10d\n", |
| num_parameter_blocks); |
| internal::StringAppendF(&report, "Parameters % 10d\n", |
| num_parameters); |
| internal::StringAppendF(&report, "Residual blocks % 10d\n", |
| num_residual_blocks); |
| internal::StringAppendF(&report, "Residuals % 10d\n\n", |
| num_residuals); |
| } else { |
| internal::StringAppendF(&report, "%45s %21s\n", "Original", "Reduced"); |
| internal::StringAppendF(&report, "Parameter blocks % 25d% 25d\n", |
| num_parameter_blocks, num_parameter_blocks_reduced); |
| internal::StringAppendF(&report, "Parameters % 25d% 25d\n", |
| num_parameters, num_parameters_reduced); |
| internal::StringAppendF(&report, "Residual blocks % 25d% 25d\n", |
| num_residual_blocks, num_residual_blocks_reduced); |
| internal::StringAppendF(&report, "Residual % 25d% 25d\n\n", |
| num_residuals, num_residuals_reduced); |
| } |
| |
| internal::StringAppendF(&report, "%45s %21s\n", "Given", "Used"); |
| internal::StringAppendF(&report, "Linear solver %25s%25s\n", |
| LinearSolverTypeToString(linear_solver_type_given), |
| LinearSolverTypeToString(linear_solver_type_used)); |
| |
| if (linear_solver_type_given == CGNR || |
| linear_solver_type_given == ITERATIVE_SCHUR) { |
| internal::StringAppendF(&report, "Preconditioner %25s%25s\n", |
| PreconditionerTypeToString(preconditioner_type), |
| PreconditionerTypeToString(preconditioner_type)); |
| } else { |
| internal::StringAppendF(&report, "Preconditioner %25s%25s\n", |
| "N/A", "N/A"); |
| } |
| |
| internal::StringAppendF(&report, "Ordering %25s%25s\n", |
| OrderingTypeToString(ordering_type), |
| OrderingTypeToString(ordering_type)); |
| |
| if (IsSchurType(linear_solver_type_given)) { |
| if (ordering_type == SCHUR) { |
| internal::StringAppendF(&report, "num_eliminate_blocks%25s% 25d\n", |
| "N/A", |
| num_eliminate_blocks_used); |
| } else { |
| internal::StringAppendF(&report, "num_eliminate_blocks% 25d% 25d\n", |
| num_eliminate_blocks_given, |
| num_eliminate_blocks_used); |
| } |
| } |
| |
| internal::StringAppendF(&report, "Threads: % 25d% 25d\n", |
| num_threads_given, num_threads_used); |
| internal::StringAppendF(&report, "Linear solver threads:% 23d% 25d\n", |
| num_linear_solver_threads_given, |
| num_linear_solver_threads_used); |
| |
| |
| if (termination_type == DID_NOT_RUN) { |
| CHECK(!error.empty()) |
| << "Solver terminated with DID_NOT_RUN but the solver did not " |
| << "return a reason. This is a Ceres error. Please report this " |
| << "to the Ceres team"; |
| internal::StringAppendF(&report, "Termination: %20s\n", |
| "DID_NOT_RUN"); |
| internal::StringAppendF(&report, "Reason: %s\n", error.c_str()); |
| return report; |
| } |
| |
| internal::StringAppendF(&report, "\nCost:\n"); |
| internal::StringAppendF(&report, "Initial % 30e\n", initial_cost); |
| if (termination_type != NUMERICAL_FAILURE && termination_type != USER_ABORT) { |
| internal::StringAppendF(&report, "Final % 30e\n", final_cost); |
| internal::StringAppendF(&report, "Change % 30e\n", |
| initial_cost - final_cost); |
| } |
| |
| internal::StringAppendF(&report, "\nNumber of iterations:\n"); |
| internal::StringAppendF(&report, "Successful % 20d\n", |
| num_successful_steps); |
| internal::StringAppendF(&report, "Unsuccessful % 20d\n", |
| num_unsuccessful_steps); |
| internal::StringAppendF(&report, "Total % 20d\n", |
| num_successful_steps + num_unsuccessful_steps); |
| internal::StringAppendF(&report, "\nTime (in seconds):\n"); |
| internal::StringAppendF(&report, "Preprocessor % 25e\n", |
| preprocessor_time_in_seconds); |
| internal::StringAppendF(&report, "Minimizer % 25e\n", |
| minimizer_time_in_seconds); |
| internal::StringAppendF(&report, "Total % 25e\n", |
| total_time_in_seconds); |
| |
| internal::StringAppendF(&report, "Termination: %25s\n", |
| SolverTerminationTypeToString(termination_type)); |
| return report; |
| }; |
| |
| } // namespace ceres |
