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
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24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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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
37namespace ceres {
38namespace internal {
39
40StateUpdatingCallback::StateUpdatingCallback(Program* program,
41                                             double* parameters)
42    : program_(program), parameters_(parameters) {}
43
44StateUpdatingCallback::~StateUpdatingCallback() {}
45
46CallbackReturnType 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
55LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
56                                 const bool log_to_stdout)
57    : minimizer_type(minimizer_type),
58      log_to_stdout_(log_to_stdout) {}
59
60LoggingCallback::~LoggingCallback() {}
61
62CallbackReturnType 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