diff options
Diffstat (limited to 'internal/ceres/solver.cc')
| -rw-r--r-- | internal/ceres/solver.cc | 240 |
1 files changed, 240 insertions, 0 deletions
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc new file mode 100644 index 0000000..450a710 --- /dev/null +++ b/internal/ceres/solver.cc @@ -0,0 +1,240 @@ +// 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/problem.h" +#include "ceres/problem_impl.h" +#include "ceres/program.h" +#include "ceres/solver_impl.h" +#include "ceres/stringprintf.h" +#include "ceres/wall_time.h" + +namespace ceres { + +Solver::Options::~Options() { + delete linear_solver_ordering; + delete inner_iteration_ordering; +} + +Solver::~Solver() {} + +void Solver::Solve(const Solver::Options& options, + Problem* problem, + Solver::Summary* summary) { + double start_time_seconds = internal::WallTimeInSeconds(); + internal::ProblemImpl* problem_impl = + CHECK_NOTNULL(problem)->problem_impl_.get(); + internal::SolverImpl::Solve(options, problem_impl, summary); + summary->total_time_in_seconds = + internal::WallTimeInSeconds() - start_time_seconds; +} + +void Solve(const Solver::Options& options, + Problem* problem, + Solver::Summary* summary) { + Solver solver; + solver.Solve(options, problem, summary); +} + +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), + postprocessor_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_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), + trust_region_strategy_type(LEVENBERG_MARQUARDT), + sparse_linear_algebra_library(SUITE_SPARSE) { +} + +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"); + } + + // TODO(sameeragarwal): Add support for logging the ordering object. + 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 (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY || + linear_solver_type_used == SPARSE_SCHUR || + (linear_solver_type_used == ITERATIVE_SCHUR && + (preconditioner_type == SCHUR_JACOBI || + preconditioner_type == CLUSTER_JACOBI || + preconditioner_type == CLUSTER_TRIDIAGONAL))) { + internal::StringAppendF(&report, "\nSparse Linear Algebra Library %15s\n", + SparseLinearAlgebraLibraryTypeToString( + sparse_linear_algebra_library)); + } + + internal::StringAppendF(&report, "Trust Region Strategy %19s", + TrustRegionStrategyTypeToString( + trust_region_strategy_type)); + if (trust_region_strategy_type == DOGLEG) { + if (dogleg_type == TRADITIONAL_DOGLEG) { + internal::StringAppendF(&report, " (TRADITIONAL)"); + } else { + internal::StringAppendF(&report, " (SUBSPACE)"); + } + } + internal::StringAppendF(&report, "\n"); + + + 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 |