1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2014 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include <iostream> // NO LINT
32 #include "ceres/callbacks.h"
33 #include "ceres/program.h"
34 #include "ceres/stringprintf.h"
35 #include "glog/logging.h"
36
37 namespace ceres {
38 namespace internal {
39
StateUpdatingCallback(Program * program,double * parameters)40 StateUpdatingCallback::StateUpdatingCallback(Program* program,
41 double* parameters)
42 : program_(program), parameters_(parameters) {}
43
~StateUpdatingCallback()44 StateUpdatingCallback::~StateUpdatingCallback() {}
45
operator ()(const IterationSummary & summary)46 CallbackReturnType StateUpdatingCallback::operator()(
47 const IterationSummary& summary) {
48 if (summary.step_is_successful) {
49 program_->StateVectorToParameterBlocks(parameters_);
50 program_->CopyParameterBlockStateToUserState();
51 }
52 return SOLVER_CONTINUE;
53 }
54
LoggingCallback(const MinimizerType minimizer_type,const bool log_to_stdout)55 LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
56 const bool log_to_stdout)
57 : minimizer_type(minimizer_type),
58 log_to_stdout_(log_to_stdout) {}
59
~LoggingCallback()60 LoggingCallback::~LoggingCallback() {}
61
operator ()(const IterationSummary & summary)62 CallbackReturnType LoggingCallback::operator()(
63 const IterationSummary& summary) {
64 string output;
65 if (minimizer_type == LINE_SEARCH) {
66 const char* kReportRowFormat =
67 "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
68 "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
69 output = StringPrintf(kReportRowFormat,
70 summary.iteration,
71 summary.cost,
72 summary.cost_change,
73 summary.gradient_max_norm,
74 summary.step_norm,
75 summary.step_size,
76 summary.line_search_function_evaluations,
77 summary.iteration_time_in_seconds,
78 summary.cumulative_time_in_seconds);
79 } else if (minimizer_type == TRUST_REGION) {
80 if (summary.iteration == 0) {
81 output = "iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time\n";
82 }
83 const char* kReportRowFormat =
84 "% 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 3d % 3.2e % 3.2e";
85 output += StringPrintf(kReportRowFormat,
86 summary.iteration,
87 summary.cost,
88 summary.cost_change,
89 summary.gradient_max_norm,
90 summary.step_norm,
91 summary.relative_decrease,
92 summary.trust_region_radius,
93 summary.linear_solver_iterations,
94 summary.iteration_time_in_seconds,
95 summary.cumulative_time_in_seconds);
96 } else {
97 LOG(FATAL) << "Unknown minimizer type.";
98 }
99
100 if (log_to_stdout_) {
101 cout << output << endl;
102 } else {
103 VLOG(1) << output;
104 }
105 return SOLVER_CONTINUE;
106 }
107
108 } // namespace internal
109 } // namespace ceres
110