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 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: 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