Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 2 | // Copyright 2014 Google Inc. All rights reserved. |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 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 |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 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: keir@google.com (Keir Mierle) |
| 30 | // sameeragarwal@google.com (Sameer Agarwal) |
| 31 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 32 | #include "ceres/internal/port.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 33 | #include "ceres/solver.h" |
| 34 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 35 | #include <sstream> // NOLINT |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 36 | #include <vector> |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 37 | |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 38 | #include "ceres/problem.h" |
| 39 | #include "ceres/problem_impl.h" |
| 40 | #include "ceres/program.h" |
| 41 | #include "ceres/solver_impl.h" |
| 42 | #include "ceres/stringprintf.h" |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 43 | #include "ceres/types.h" |
| 44 | #include "ceres/version.h" |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 45 | #include "ceres/wall_time.h" |
| 46 | |
| 47 | namespace ceres { |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 48 | namespace { |
| 49 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 50 | #define OPTION_OP(x, y, OP) \ |
| 51 | if (!(options.x OP y)) { \ |
| 52 | std::stringstream ss; \ |
| 53 | ss << "Invalid configuration. "; \ |
| 54 | ss << string("Solver::Options::" #x " = ") << options.x << ". "; \ |
| 55 | ss << "Violated constraint: "; \ |
| 56 | ss << string("Solver::Options::" #x " " #OP " "#y); \ |
| 57 | *error = ss.str(); \ |
| 58 | return false; \ |
| 59 | } |
| 60 | |
| 61 | #define OPTION_OP_OPTION(x, y, OP) \ |
| 62 | if (!(options.x OP options.y)) { \ |
| 63 | std::stringstream ss; \ |
| 64 | ss << "Invalid configuration. "; \ |
| 65 | ss << string("Solver::Options::" #x " = ") << options.x << ". "; \ |
| 66 | ss << string("Solver::Options::" #y " = ") << options.y << ". "; \ |
| 67 | ss << "Violated constraint: "; \ |
| 68 | ss << string("Solver::Options::" #x ); \ |
| 69 | ss << string(#OP " Solver::Options::" #y "."); \ |
| 70 | *error = ss.str(); \ |
| 71 | return false; \ |
| 72 | } |
| 73 | |
| 74 | #define OPTION_GE(x, y) OPTION_OP(x, y, >=); |
| 75 | #define OPTION_GT(x, y) OPTION_OP(x, y, >); |
| 76 | #define OPTION_LE(x, y) OPTION_OP(x, y, <=); |
| 77 | #define OPTION_LT(x, y) OPTION_OP(x, y, <); |
| 78 | #define OPTION_LE_OPTION(x, y) OPTION_OP_OPTION(x ,y, <=) |
| 79 | #define OPTION_LT_OPTION(x, y) OPTION_OP_OPTION(x ,y, <) |
| 80 | |
| 81 | bool CommonOptionsAreValid(const Solver::Options& options, string* error) { |
| 82 | OPTION_GE(max_num_iterations, 0); |
| 83 | OPTION_GE(max_solver_time_in_seconds, 0.0); |
| 84 | OPTION_GE(function_tolerance, 0.0); |
| 85 | OPTION_GE(gradient_tolerance, 0.0); |
| 86 | OPTION_GE(parameter_tolerance, 0.0); |
| 87 | OPTION_GT(num_threads, 0); |
| 88 | OPTION_GT(num_linear_solver_threads, 0); |
| 89 | if (options.check_gradients) { |
| 90 | OPTION_GT(gradient_check_relative_precision, 0.0); |
| 91 | OPTION_GT(numeric_derivative_relative_step_size, 0.0); |
| 92 | } |
| 93 | return true; |
| 94 | } |
| 95 | |
| 96 | bool TrustRegionOptionsAreValid(const Solver::Options& options, string* error) { |
| 97 | OPTION_GT(initial_trust_region_radius, 0.0); |
| 98 | OPTION_GT(min_trust_region_radius, 0.0); |
| 99 | OPTION_GT(max_trust_region_radius, 0.0); |
| 100 | OPTION_LE_OPTION(min_trust_region_radius, max_trust_region_radius); |
| 101 | OPTION_LE_OPTION(min_trust_region_radius, initial_trust_region_radius); |
| 102 | OPTION_LE_OPTION(initial_trust_region_radius, max_trust_region_radius); |
| 103 | OPTION_GE(min_relative_decrease, 0.0); |
| 104 | OPTION_GE(min_lm_diagonal, 0.0); |
| 105 | OPTION_GE(max_lm_diagonal, 0.0); |
| 106 | OPTION_LE_OPTION(min_lm_diagonal, max_lm_diagonal); |
| 107 | OPTION_GE(max_num_consecutive_invalid_steps, 0); |
| 108 | OPTION_GT(eta, 0.0); |
| 109 | OPTION_GE(min_linear_solver_iterations, 1); |
| 110 | OPTION_GE(max_linear_solver_iterations, 1); |
| 111 | OPTION_LE_OPTION(min_linear_solver_iterations, max_linear_solver_iterations); |
| 112 | |
| 113 | if (options.use_inner_iterations) { |
| 114 | OPTION_GE(inner_iteration_tolerance, 0.0); |
| 115 | } |
| 116 | |
| 117 | if (options.use_nonmonotonic_steps) { |
| 118 | OPTION_GT(max_consecutive_nonmonotonic_steps, 0); |
| 119 | } |
| 120 | |
| 121 | if (options.preconditioner_type == CLUSTER_JACOBI && |
| 122 | options.sparse_linear_algebra_library_type != SUITE_SPARSE) { |
| 123 | *error = "CLUSTER_JACOBI requires " |
| 124 | "Solver::Options::sparse_linear_algebra_library_type to be " |
| 125 | "SUITE_SPARSE"; |
| 126 | return false; |
| 127 | } |
| 128 | |
| 129 | if (options.preconditioner_type == CLUSTER_TRIDIAGONAL && |
| 130 | options.sparse_linear_algebra_library_type != SUITE_SPARSE) { |
| 131 | *error = "CLUSTER_TRIDIAGONAL requires " |
| 132 | "Solver::Options::sparse_linear_algebra_library_type to be " |
| 133 | "SUITE_SPARSE"; |
| 134 | return false; |
| 135 | } |
| 136 | |
| 137 | #ifdef CERES_NO_LAPACK |
| 138 | if (options.dense_linear_algebra_library_type == LAPACK) { |
| 139 | if (options.linear_solver_type == DENSE_NORMAL_CHOLESKY) { |
| 140 | *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because " |
| 141 | "LAPACK was not enabled when Ceres was built."; |
| 142 | return false; |
| 143 | } |
| 144 | |
| 145 | if (options.linear_solver_type == DENSE_QR) { |
| 146 | *error = "Can't use DENSE_QR with LAPACK because " |
| 147 | "LAPACK was not enabled when Ceres was built."; |
| 148 | return false; |
| 149 | } |
| 150 | |
| 151 | if (options.linear_solver_type == DENSE_SCHUR) { |
| 152 | *error = "Can't use DENSE_SCHUR with LAPACK because " |
| 153 | "LAPACK was not enabled when Ceres was built."; |
| 154 | return false; |
| 155 | } |
| 156 | } |
| 157 | #endif |
| 158 | |
| 159 | #ifdef CERES_NO_SUITESPARSE |
| 160 | if (options.sparse_linear_algebra_library_type == SUITE_SPARSE) { |
| 161 | if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) { |
| 162 | *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because " |
| 163 | "SuiteSparse was not enabled when Ceres was built."; |
| 164 | return false; |
| 165 | } |
| 166 | |
| 167 | if (options.linear_solver_type == SPARSE_SCHUR) { |
| 168 | *error = "Can't use SPARSE_SCHUR with SUITESPARSE because " |
| 169 | "SuiteSparse was not enabled when Ceres was built."; |
| 170 | return false; |
| 171 | } |
| 172 | |
| 173 | if (options.preconditioner_type == CLUSTER_JACOBI) { |
| 174 | *error = "CLUSTER_JACOBI preconditioner not supported. " |
| 175 | "SuiteSparse was not enabled when Ceres was built."; |
| 176 | return false; |
| 177 | } |
| 178 | |
| 179 | if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) { |
| 180 | *error = "CLUSTER_TRIDIAGONAL preconditioner not supported. " |
| 181 | "SuiteSparse was not enabled when Ceres was built."; |
| 182 | return false; |
| 183 | } |
| 184 | } |
| 185 | #endif |
| 186 | |
| 187 | #ifdef CERES_NO_CXSPARSE |
| 188 | if (options.sparse_linear_algebra_library_type == CX_SPARSE) { |
| 189 | if (options.linear_solver_type == SPARSE_NORMAL_CHOLESKY) { |
| 190 | *error = "Can't use SPARSE_NORMAL_CHOLESKY with CX_SPARSE because " |
| 191 | "CXSparse was not enabled when Ceres was built."; |
| 192 | return false; |
| 193 | } |
| 194 | |
| 195 | if (options.linear_solver_type == SPARSE_SCHUR) { |
| 196 | *error = "Can't use SPARSE_SCHUR with CX_SPARSE because " |
| 197 | "CXSparse was not enabled when Ceres was built."; |
| 198 | return false; |
| 199 | } |
| 200 | } |
| 201 | #endif |
| 202 | |
| 203 | if (options.trust_region_strategy_type == DOGLEG) { |
| 204 | if (options.linear_solver_type == ITERATIVE_SCHUR || |
| 205 | options.linear_solver_type == CGNR) { |
| 206 | *error = "DOGLEG only supports exact factorization based linear " |
| 207 | "solvers. If you want to use an iterative solver please " |
| 208 | "use LEVENBERG_MARQUARDT as the trust_region_strategy_type"; |
| 209 | return false; |
| 210 | } |
| 211 | } |
| 212 | |
| 213 | if (options.trust_region_minimizer_iterations_to_dump.size() > 0 && |
| 214 | options.trust_region_problem_dump_format_type != CONSOLE && |
| 215 | options.trust_region_problem_dump_directory.empty()) { |
| 216 | *error = "Solver::Options::trust_region_problem_dump_directory is empty."; |
| 217 | return false; |
| 218 | } |
| 219 | |
| 220 | if (options.dynamic_sparsity && |
| 221 | options.linear_solver_type != SPARSE_NORMAL_CHOLESKY) { |
| 222 | *error = "Dynamic sparsity is only supported with SPARSE_NORMAL_CHOLESKY."; |
| 223 | return false; |
| 224 | } |
| 225 | |
| 226 | return true; |
| 227 | } |
| 228 | |
| 229 | bool LineSearchOptionsAreValid(const Solver::Options& options, string* error) { |
| 230 | OPTION_GT(max_lbfgs_rank, 0); |
| 231 | OPTION_GT(min_line_search_step_size, 0.0); |
| 232 | OPTION_GT(max_line_search_step_contraction, 0.0); |
| 233 | OPTION_LT(max_line_search_step_contraction, 1.0); |
| 234 | OPTION_LT_OPTION(max_line_search_step_contraction, |
| 235 | min_line_search_step_contraction); |
| 236 | OPTION_LE(min_line_search_step_contraction, 1.0); |
| 237 | OPTION_GT(max_num_line_search_step_size_iterations, 0); |
| 238 | OPTION_GT(line_search_sufficient_function_decrease, 0.0); |
| 239 | OPTION_LT_OPTION(line_search_sufficient_function_decrease, |
| 240 | line_search_sufficient_curvature_decrease); |
| 241 | OPTION_LT(line_search_sufficient_curvature_decrease, 1.0); |
| 242 | OPTION_GT(max_line_search_step_expansion, 1.0); |
| 243 | |
| 244 | if ((options.line_search_direction_type == ceres::BFGS || |
| 245 | options.line_search_direction_type == ceres::LBFGS) && |
| 246 | options.line_search_type != ceres::WOLFE) { |
| 247 | |
| 248 | *error = |
| 249 | string("Invalid configuration: Solver::Options::line_search_type = ") |
| 250 | + string(LineSearchTypeToString(options.line_search_type)) |
| 251 | + string(". When using (L)BFGS, " |
| 252 | "Solver::Options::line_search_type must be set to WOLFE."); |
| 253 | return false; |
| 254 | } |
| 255 | |
| 256 | // Warn user if they have requested BISECTION interpolation, but constraints |
| 257 | // on max/min step size change during line search prevent bisection scaling |
| 258 | // from occurring. Warn only, as this is likely a user mistake, but one which |
| 259 | // does not prevent us from continuing. |
| 260 | LOG_IF(WARNING, |
| 261 | (options.line_search_interpolation_type == ceres::BISECTION && |
| 262 | (options.max_line_search_step_contraction > 0.5 || |
| 263 | options.min_line_search_step_contraction < 0.5))) |
| 264 | << "Line search interpolation type is BISECTION, but specified " |
| 265 | << "max_line_search_step_contraction: " |
| 266 | << options.max_line_search_step_contraction << ", and " |
| 267 | << "min_line_search_step_contraction: " |
| 268 | << options.min_line_search_step_contraction |
| 269 | << ", prevent bisection (0.5) scaling, continuing with solve regardless."; |
| 270 | |
| 271 | return true; |
| 272 | } |
| 273 | |
| 274 | #undef OPTION_OP |
| 275 | #undef OPTION_OP_OPTION |
| 276 | #undef OPTION_GT |
| 277 | #undef OPTION_GE |
| 278 | #undef OPTION_LE |
| 279 | #undef OPTION_LT |
| 280 | #undef OPTION_LE_OPTION |
| 281 | #undef OPTION_LT_OPTION |
| 282 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 283 | void StringifyOrdering(const vector<int>& ordering, string* report) { |
| 284 | if (ordering.size() == 0) { |
| 285 | internal::StringAppendF(report, "AUTOMATIC"); |
| 286 | return; |
| 287 | } |
| 288 | |
| 289 | for (int i = 0; i < ordering.size() - 1; ++i) { |
| 290 | internal::StringAppendF(report, "%d, ", ordering[i]); |
| 291 | } |
| 292 | internal::StringAppendF(report, "%d", ordering.back()); |
| 293 | } |
| 294 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 295 | } // namespace |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 296 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 297 | bool Solver::Options::IsValid(string* error) const { |
| 298 | if (!CommonOptionsAreValid(*this, error)) { |
| 299 | return false; |
| 300 | } |
| 301 | |
| 302 | if (minimizer_type == TRUST_REGION) { |
| 303 | return TrustRegionOptionsAreValid(*this, error); |
| 304 | } |
| 305 | |
| 306 | CHECK_EQ(minimizer_type, LINE_SEARCH); |
| 307 | return LineSearchOptionsAreValid(*this, error); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 308 | } |
| 309 | |
| 310 | Solver::~Solver() {} |
| 311 | |
| 312 | void Solver::Solve(const Solver::Options& options, |
| 313 | Problem* problem, |
| 314 | Solver::Summary* summary) { |
| 315 | double start_time_seconds = internal::WallTimeInSeconds(); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 316 | CHECK_NOTNULL(problem); |
| 317 | CHECK_NOTNULL(summary); |
| 318 | |
| 319 | *summary = Summary(); |
| 320 | if (!options.IsValid(&summary->message)) { |
| 321 | LOG(ERROR) << "Terminating: " << summary->message; |
| 322 | return; |
| 323 | } |
| 324 | |
| 325 | internal::ProblemImpl* problem_impl = problem->problem_impl_.get(); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 326 | internal::SolverImpl::Solve(options, problem_impl, summary); |
| 327 | summary->total_time_in_seconds = |
| 328 | internal::WallTimeInSeconds() - start_time_seconds; |
| 329 | } |
| 330 | |
| 331 | void Solve(const Solver::Options& options, |
| 332 | Problem* problem, |
| 333 | Solver::Summary* summary) { |
| 334 | Solver solver; |
| 335 | solver.Solve(options, problem, summary); |
| 336 | } |
| 337 | |
| 338 | Solver::Summary::Summary() |
| 339 | // Invalid values for most fields, to ensure that we are not |
| 340 | // accidentally reporting default values. |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 341 | : minimizer_type(TRUST_REGION), |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 342 | termination_type(FAILURE), |
| 343 | message("ceres::Solve was not called."), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 344 | initial_cost(-1.0), |
| 345 | final_cost(-1.0), |
| 346 | fixed_cost(-1.0), |
| 347 | num_successful_steps(-1), |
| 348 | num_unsuccessful_steps(-1), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 349 | num_inner_iteration_steps(-1), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 350 | preprocessor_time_in_seconds(-1.0), |
| 351 | minimizer_time_in_seconds(-1.0), |
| 352 | postprocessor_time_in_seconds(-1.0), |
| 353 | total_time_in_seconds(-1.0), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 354 | linear_solver_time_in_seconds(-1.0), |
| 355 | residual_evaluation_time_in_seconds(-1.0), |
| 356 | jacobian_evaluation_time_in_seconds(-1.0), |
| 357 | inner_iteration_time_in_seconds(-1.0), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 358 | num_parameter_blocks(-1), |
| 359 | num_parameters(-1), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 360 | num_effective_parameters(-1), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 361 | num_residual_blocks(-1), |
| 362 | num_residuals(-1), |
| 363 | num_parameter_blocks_reduced(-1), |
| 364 | num_parameters_reduced(-1), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 365 | num_effective_parameters_reduced(-1), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 366 | num_residual_blocks_reduced(-1), |
| 367 | num_residuals_reduced(-1), |
| 368 | num_threads_given(-1), |
| 369 | num_threads_used(-1), |
| 370 | num_linear_solver_threads_given(-1), |
| 371 | num_linear_solver_threads_used(-1), |
| 372 | linear_solver_type_given(SPARSE_NORMAL_CHOLESKY), |
| 373 | linear_solver_type_used(SPARSE_NORMAL_CHOLESKY), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 374 | inner_iterations_given(false), |
| 375 | inner_iterations_used(false), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 376 | preconditioner_type(IDENTITY), |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 377 | visibility_clustering_type(CANONICAL_VIEWS), |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 378 | trust_region_strategy_type(LEVENBERG_MARQUARDT), |
Scott Ettinger | 399f7d0 | 2013-09-09 12:54:43 -0700 | [diff] [blame] | 379 | dense_linear_algebra_library_type(EIGEN), |
| 380 | sparse_linear_algebra_library_type(SUITE_SPARSE), |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 381 | line_search_direction_type(LBFGS), |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 382 | line_search_type(ARMIJO), |
| 383 | line_search_interpolation_type(BISECTION), |
| 384 | nonlinear_conjugate_gradient_type(FLETCHER_REEVES), |
| 385 | max_lbfgs_rank(-1) { |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 386 | } |
| 387 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 388 | using internal::StringAppendF; |
| 389 | using internal::StringPrintf; |
| 390 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 391 | string Solver::Summary::BriefReport() const { |
| 392 | return StringPrintf("Ceres Solver Report: " |
| 393 | "Iterations: %d, " |
| 394 | "Initial cost: %e, " |
| 395 | "Final cost: %e, " |
| 396 | "Termination: %s", |
| 397 | num_successful_steps + num_unsuccessful_steps, |
| 398 | initial_cost, |
| 399 | final_cost, |
| 400 | TerminationTypeToString(termination_type)); |
| 401 | }; |
| 402 | |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 403 | string Solver::Summary::FullReport() const { |
| 404 | string report = |
| 405 | "\n" |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 406 | "Ceres Solver v" CERES_VERSION_STRING " Solve Report\n" |
| 407 | "----------------------------------\n"; |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 408 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 409 | StringAppendF(&report, "%45s %21s\n", "Original", "Reduced"); |
| 410 | StringAppendF(&report, "Parameter blocks % 25d% 25d\n", |
| 411 | num_parameter_blocks, num_parameter_blocks_reduced); |
| 412 | StringAppendF(&report, "Parameters % 25d% 25d\n", |
| 413 | num_parameters, num_parameters_reduced); |
| 414 | if (num_effective_parameters_reduced != num_parameters_reduced) { |
| 415 | StringAppendF(&report, "Effective parameters% 25d% 25d\n", |
| 416 | num_effective_parameters, num_effective_parameters_reduced); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 417 | } |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 418 | StringAppendF(&report, "Residual blocks % 25d% 25d\n", |
| 419 | num_residual_blocks, num_residual_blocks_reduced); |
| 420 | StringAppendF(&report, "Residual % 25d% 25d\n", |
| 421 | num_residuals, num_residuals_reduced); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 422 | |
| 423 | if (minimizer_type == TRUST_REGION) { |
| 424 | // TRUST_SEARCH HEADER |
| 425 | StringAppendF(&report, "\nMinimizer %19s\n", |
| 426 | "TRUST_REGION"); |
Scott Ettinger | 399f7d0 | 2013-09-09 12:54:43 -0700 | [diff] [blame] | 427 | |
| 428 | if (linear_solver_type_used == DENSE_NORMAL_CHOLESKY || |
| 429 | linear_solver_type_used == DENSE_SCHUR || |
| 430 | linear_solver_type_used == DENSE_QR) { |
| 431 | StringAppendF(&report, "\nDense linear algebra library %15s\n", |
| 432 | DenseLinearAlgebraLibraryTypeToString( |
| 433 | dense_linear_algebra_library_type)); |
| 434 | } |
| 435 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 436 | if (linear_solver_type_used == SPARSE_NORMAL_CHOLESKY || |
| 437 | linear_solver_type_used == SPARSE_SCHUR || |
| 438 | (linear_solver_type_used == ITERATIVE_SCHUR && |
| 439 | (preconditioner_type == CLUSTER_JACOBI || |
| 440 | preconditioner_type == CLUSTER_TRIDIAGONAL))) { |
| 441 | StringAppendF(&report, "\nSparse linear algebra library %15s\n", |
| 442 | SparseLinearAlgebraLibraryTypeToString( |
Scott Ettinger | 399f7d0 | 2013-09-09 12:54:43 -0700 | [diff] [blame] | 443 | sparse_linear_algebra_library_type)); |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 444 | } |
| 445 | |
| 446 | StringAppendF(&report, "Trust region strategy %19s", |
| 447 | TrustRegionStrategyTypeToString( |
| 448 | trust_region_strategy_type)); |
| 449 | if (trust_region_strategy_type == DOGLEG) { |
| 450 | if (dogleg_type == TRADITIONAL_DOGLEG) { |
| 451 | StringAppendF(&report, " (TRADITIONAL)"); |
| 452 | } else { |
| 453 | StringAppendF(&report, " (SUBSPACE)"); |
| 454 | } |
| 455 | } |
| 456 | StringAppendF(&report, "\n"); |
| 457 | StringAppendF(&report, "\n"); |
| 458 | |
| 459 | StringAppendF(&report, "%45s %21s\n", "Given", "Used"); |
| 460 | StringAppendF(&report, "Linear solver %25s%25s\n", |
| 461 | LinearSolverTypeToString(linear_solver_type_given), |
| 462 | LinearSolverTypeToString(linear_solver_type_used)); |
| 463 | |
| 464 | if (linear_solver_type_given == CGNR || |
| 465 | linear_solver_type_given == ITERATIVE_SCHUR) { |
| 466 | StringAppendF(&report, "Preconditioner %25s%25s\n", |
| 467 | PreconditionerTypeToString(preconditioner_type), |
| 468 | PreconditionerTypeToString(preconditioner_type)); |
| 469 | } |
| 470 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 471 | if (preconditioner_type == CLUSTER_JACOBI || |
| 472 | preconditioner_type == CLUSTER_TRIDIAGONAL) { |
| 473 | StringAppendF(&report, "Visibility clustering%24s%25s\n", |
| 474 | VisibilityClusteringTypeToString( |
| 475 | visibility_clustering_type), |
| 476 | VisibilityClusteringTypeToString( |
| 477 | visibility_clustering_type)); |
| 478 | } |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 479 | StringAppendF(&report, "Threads % 25d% 25d\n", |
| 480 | num_threads_given, num_threads_used); |
| 481 | StringAppendF(&report, "Linear solver threads % 23d% 25d\n", |
| 482 | num_linear_solver_threads_given, |
| 483 | num_linear_solver_threads_used); |
| 484 | |
| 485 | if (IsSchurType(linear_solver_type_used)) { |
| 486 | string given; |
| 487 | StringifyOrdering(linear_solver_ordering_given, &given); |
| 488 | string used; |
| 489 | StringifyOrdering(linear_solver_ordering_used, &used); |
| 490 | StringAppendF(&report, |
| 491 | "Linear solver ordering %22s %24s\n", |
| 492 | given.c_str(), |
| 493 | used.c_str()); |
| 494 | } |
| 495 | |
| 496 | if (inner_iterations_given) { |
| 497 | StringAppendF(&report, |
| 498 | "Use inner iterations %20s %20s\n", |
| 499 | inner_iterations_given ? "True" : "False", |
| 500 | inner_iterations_used ? "True" : "False"); |
| 501 | } |
| 502 | |
| 503 | if (inner_iterations_used) { |
| 504 | string given; |
| 505 | StringifyOrdering(inner_iteration_ordering_given, &given); |
| 506 | string used; |
| 507 | StringifyOrdering(inner_iteration_ordering_used, &used); |
| 508 | StringAppendF(&report, |
| 509 | "Inner iteration ordering %20s %24s\n", |
| 510 | given.c_str(), |
| 511 | used.c_str()); |
| 512 | } |
| 513 | } else { |
| 514 | // LINE_SEARCH HEADER |
| 515 | StringAppendF(&report, "\nMinimizer %19s\n", "LINE_SEARCH"); |
| 516 | |
| 517 | |
| 518 | string line_search_direction_string; |
| 519 | if (line_search_direction_type == LBFGS) { |
| 520 | line_search_direction_string = StringPrintf("LBFGS (%d)", max_lbfgs_rank); |
| 521 | } else if (line_search_direction_type == NONLINEAR_CONJUGATE_GRADIENT) { |
| 522 | line_search_direction_string = |
| 523 | NonlinearConjugateGradientTypeToString( |
| 524 | nonlinear_conjugate_gradient_type); |
| 525 | } else { |
| 526 | line_search_direction_string = |
| 527 | LineSearchDirectionTypeToString(line_search_direction_type); |
| 528 | } |
| 529 | |
| 530 | StringAppendF(&report, "Line search direction %19s\n", |
| 531 | line_search_direction_string.c_str()); |
| 532 | |
| 533 | const string line_search_type_string = |
| 534 | StringPrintf("%s %s", |
| 535 | LineSearchInterpolationTypeToString( |
| 536 | line_search_interpolation_type), |
| 537 | LineSearchTypeToString(line_search_type)); |
| 538 | StringAppendF(&report, "Line search type %19s\n", |
| 539 | line_search_type_string.c_str()); |
| 540 | StringAppendF(&report, "\n"); |
| 541 | |
| 542 | StringAppendF(&report, "%45s %21s\n", "Given", "Used"); |
| 543 | StringAppendF(&report, "Threads % 25d% 25d\n", |
| 544 | num_threads_given, num_threads_used); |
| 545 | } |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 546 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 547 | StringAppendF(&report, "\nCost:\n"); |
| 548 | StringAppendF(&report, "Initial % 30e\n", initial_cost); |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 549 | if (termination_type != FAILURE && |
| 550 | termination_type != USER_FAILURE) { |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 551 | StringAppendF(&report, "Final % 30e\n", final_cost); |
| 552 | StringAppendF(&report, "Change % 30e\n", |
| 553 | initial_cost - final_cost); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 554 | } |
| 555 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 556 | StringAppendF(&report, "\nMinimizer iterations % 16d\n", |
| 557 | num_successful_steps + num_unsuccessful_steps); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 558 | |
Sascha Haeberling | 1d2624a | 2013-07-23 19:00:21 -0700 | [diff] [blame] | 559 | // Successful/Unsuccessful steps only matter in the case of the |
| 560 | // trust region solver. Line search terminates when it encounters |
| 561 | // the first unsuccessful step. |
| 562 | if (minimizer_type == TRUST_REGION) { |
| 563 | StringAppendF(&report, "Successful steps % 14d\n", |
| 564 | num_successful_steps); |
| 565 | StringAppendF(&report, "Unsuccessful steps % 14d\n", |
| 566 | num_unsuccessful_steps); |
| 567 | } |
| 568 | if (inner_iterations_used) { |
| 569 | StringAppendF(&report, "Steps with inner iterations % 14d\n", |
| 570 | num_inner_iteration_steps); |
| 571 | } |
| 572 | |
| 573 | StringAppendF(&report, "\nTime (in seconds):\n"); |
| 574 | StringAppendF(&report, "Preprocessor %25.3f\n", |
| 575 | preprocessor_time_in_seconds); |
| 576 | |
| 577 | StringAppendF(&report, "\n Residual evaluation %23.3f\n", |
| 578 | residual_evaluation_time_in_seconds); |
| 579 | StringAppendF(&report, " Jacobian evaluation %23.3f\n", |
| 580 | jacobian_evaluation_time_in_seconds); |
| 581 | |
| 582 | if (minimizer_type == TRUST_REGION) { |
| 583 | StringAppendF(&report, " Linear solver %23.3f\n", |
| 584 | linear_solver_time_in_seconds); |
| 585 | } |
| 586 | |
| 587 | if (inner_iterations_used) { |
| 588 | StringAppendF(&report, " Inner iterations %23.3f\n", |
| 589 | inner_iteration_time_in_seconds); |
| 590 | } |
| 591 | |
| 592 | StringAppendF(&report, "Minimizer %25.3f\n\n", |
| 593 | minimizer_time_in_seconds); |
| 594 | |
| 595 | StringAppendF(&report, "Postprocessor %24.3f\n", |
| 596 | postprocessor_time_in_seconds); |
| 597 | |
| 598 | StringAppendF(&report, "Total %25.3f\n\n", |
| 599 | total_time_in_seconds); |
| 600 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 601 | StringAppendF(&report, "Termination: %25s (%s)\n", |
| 602 | TerminationTypeToString(termination_type), message.c_str()); |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 603 | return report; |
| 604 | }; |
| 605 | |
Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 606 | bool Solver::Summary::IsSolutionUsable() const { |
| 607 | return (termination_type == CONVERGENCE || |
| 608 | termination_type == NO_CONVERGENCE || |
| 609 | termination_type == USER_SUCCESS); |
| 610 | } |
| 611 | |
Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame] | 612 | } // namespace ceres |