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Improve ExecutionSummary

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1. Replace two maps by 1.
2. Update number of calls and the time for the call at the cost
   of a single map lookup.
3. Add Solver::Summary::num_linear_solves.

Fixes https://github.com/ceres-solver/ceres-solver/issues/340

Change-Id: I71eb9be7fb363a8cb066591c4c1761f256c81677
This commit is contained in:
Sameer Agarwal
2018-02-05 16:35:06 -08:00
parent 0251359830
commit 2145c10539
10 changed files with 103 additions and 101 deletions
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internal/ceres/gradient_problem_solver.cc
+17 -12
View File
@@ -98,6 +98,7 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options,
const GradientProblem& problem,
double* parameters_ptr,
GradientProblemSolver::Summary* summary) {
using internal::CallStatistics;
using internal::GradientProblemEvaluator;
using internal::GradientProblemSolverStateUpdatingCallback;
using internal::LoggingCallback;
@@ -174,18 +175,22 @@ void GradientProblemSolver::Solve(const GradientProblemSolver::Options& options,
SetSummaryFinalCost(summary);
}
const std::map<string, double>& evaluator_time_statistics =
minimizer_options.evaluator->TimeStatistics();
summary->cost_evaluation_time_in_seconds =
FindWithDefault(evaluator_time_statistics, "Evaluator::Residual", 0.0);
summary->gradient_evaluation_time_in_seconds =
FindWithDefault(evaluator_time_statistics, "Evaluator::Jacobian", 0.0);
const std::map<string, int>& evaluator_call_statistics =
minimizer_options.evaluator->CallStatistics();
summary->num_cost_evaluations =
FindWithDefault(evaluator_call_statistics, "Evaluator::Residual", 0);
summary->num_gradient_evaluations =
FindWithDefault(evaluator_call_statistics, "Evaluator::Jacobian", 0);
const std::map<string, CallStatistics>& evaluator_statistics =
minimizer_options.evaluator->Statistics();
{
const CallStatistics& call_stats = FindWithDefault(
evaluator_statistics, "Evaluator::Residual", CallStatistics());
summary->cost_evaluation_time_in_seconds = call_stats.time;
summary->num_cost_evaluations = call_stats.calls;
}
{
const CallStatistics& call_stats = FindWithDefault(
evaluator_statistics, "Evaluator::Jacobian", CallStatistics());
summary->gradient_evaluation_time_in_seconds = call_stats.time;
summary->num_gradient_evaluations = call_stats.calls;
}
summary->total_time_in_seconds = WallTimeInSeconds() - start_time;
}