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https://github.com/ceres-solver/ceres-solver.git
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Documentation update.
Update the documentation to reflect the new trust region solver logging style. Change-Id: Id2d6b9efeee86c690c349a225d344e9f97ddbcdf
This commit is contained in:
Sameer Agarwal
committed by
Keir Mierle
Keir Mierle
parent
252917655b
commit
4fce29c29e
+39
-39
@@ -134,55 +134,55 @@ This runs Ceres for a maximum of 10 iterations using the
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this.
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.. code-block:: bash
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
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1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
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2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
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3 1.899774e+04 3.09e+04 1.60e+06 1.24e+02 9.77e-01 9.26e+04 1 1.43e-01 7.92e-01
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4 1.808729e+04 9.10e+02 3.97e+05 6.39e+01 9.51e-01 2.78e+05 1 1.45e-01 9.36e-01
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5 1.803399e+04 5.33e+01 1.48e+04 1.23e+01 9.99e-01 8.33e+05 1 1.45e-01 1.08e+00
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6 1.803390e+04 9.02e-02 6.35e+01 8.00e-01 1.00e+00 2.50e+06 1 1.50e-01 1.23e+00
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0: f: 4.185660e+06 d: 0.00e+00 g: 1.09e+08 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 8.73e-02 tt: 2.61e-01
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1: f: 1.062590e+05 d: 4.08e+06 g: 8.99e+06 h: 5.36e+02 rho: 9.82e-01 mu: 3.00e+04 li: 1 it: 1.85e-01 tt: 4.46e-01
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2: f: 4.992817e+04 d: 5.63e+04 g: 8.32e+06 h: 3.19e+02 rho: 6.52e-01 mu: 3.09e+04 li: 1 it: 1.74e-01 tt: 6.20e-01
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3: f: 1.899774e+04 d: 3.09e+04 g: 1.60e+06 h: 1.24e+02 rho: 9.77e-01 mu: 9.26e+04 li: 1 it: 1.74e-01 tt: 7.94e-01
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4: f: 1.808729e+04 d: 9.10e+02 g: 3.97e+05 h: 6.39e+01 rho: 9.51e-01 mu: 2.78e+05 li: 1 it: 1.73e-01 tt: 9.67e-01
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5: f: 1.803399e+04 d: 5.33e+01 g: 1.48e+04 h: 1.23e+01 rho: 9.99e-01 mu: 8.33e+05 li: 1 it: 1.75e-01 tt: 1.14e+00
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6: f: 1.803390e+04 d: 9.02e-02 g: 6.35e+01 h: 8.00e-01 rho: 1.00e+00 mu: 2.50e+06 li: 1 it: 1.75e-01 tt: 1.32e+00
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Ceres Solver v1.10.0 Solve Report
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----------------------------------
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Original Reduced
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Parameter blocks 22122 22122
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Parameters 66462 66462
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Residual blocks 83718 83718
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Residual 167436 167436
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Ceres Solver Report
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-------------------
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Original Reduced
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Parameter blocks 22122 22122
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Parameters 66462 66462
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Residual blocks 83718 83718
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Residual 167436 167436
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Minimizer TRUST_REGION
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Minimizer TRUST_REGION
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Dense linear algebra library EIGEN
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Trust region strategy LEVENBERG_MARQUARDT
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Dense linear algebra library EIGEN
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Trust region strategy LEVENBERG_MARQUARDT
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Given Used
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Linear solver DENSE_SCHUR DENSE_SCHUR
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Threads 1 1
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Linear solver threads 1 1
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Linear solver ordering AUTOMATIC 22106, 16
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Given Used
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Linear solver DENSE_SCHUR DENSE_SCHUR
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Threads 1 1
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Linear solver threads 1 1
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Linear solver ordering AUTOMATIC 22106, 16
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Cost:
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Initial 4.185660e+06
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Final 1.803390e+04
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Change 4.167626e+06
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Cost:
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Initial 4.185660e+06
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Final 1.803390e+04
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Change 4.167626e+06
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Minimizer iterations 6
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Successful steps 6
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Unsuccessful steps 0
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Minimizer iterations 6
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Successful steps 6
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Unsuccessful steps 0
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Time (in seconds):
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Preprocessor 0.261
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Time (in seconds):
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Preprocessor 0.173
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Residual evaluation 0.082
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Jacobian evaluation 0.412
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Linear solver 0.442
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Minimizer 1.051
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Residual evaluation 0.115
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Jacobian evaluation 0.498
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Linear solver 0.517
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Minimizer 1.242
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Postprocessor 0.002
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Total 1.357
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Postprocessor 0.003
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Total 1.437
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Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769750e-09 <= 1.000000e-06)
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Termination: CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769766e-09 <= 1.000000e-06)
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.. section-osx:
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+33
-30
@@ -169,16 +169,16 @@ Solving
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./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 4.185660e+06 0.00e+00 2.16e+07 0.00e+00 0.00e+00 1.00e+04 0 7.50e-02 3.58e-01
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1 1.980525e+05 3.99e+06 5.34e+06 2.40e+03 9.60e-01 3.00e+04 1 1.84e-01 5.42e-01
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2 5.086543e+04 1.47e+05 2.11e+06 1.01e+03 8.22e-01 4.09e+04 1 1.53e-01 6.95e-01
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3 1.859667e+04 3.23e+04 2.87e+05 2.64e+02 9.85e-01 1.23e+05 1 1.71e-01 8.66e-01
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4 1.803857e+04 5.58e+02 2.69e+04 8.66e+01 9.93e-01 3.69e+05 1 1.61e-01 1.03e+00
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5 1.803391e+04 4.66e+00 3.11e+02 1.02e+01 1.00e+00 1.11e+06 1 1.49e-01 1.18e+00
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0: f: 4.185660e+06 d: 0.00e+00 g: 2.16e+07 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 9.20e-02 tt: 3.35e-01
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1: f: 1.980525e+05 d: 3.99e+06 g: 5.34e+06 h: 2.40e+03 rho: 9.60e-01 mu: 3.00e+04 li: 1 it: 1.99e-01 tt: 5.34e-01
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2: f: 5.086543e+04 d: 1.47e+05 g: 2.11e+06 h: 1.01e+03 rho: 8.22e-01 mu: 4.09e+04 li: 1 it: 1.61e-01 tt: 6.95e-01
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3: f: 1.859667e+04 d: 3.23e+04 g: 2.87e+05 h: 2.64e+02 rho: 9.85e-01 mu: 1.23e+05 li: 1 it: 1.63e-01 tt: 8.58e-01
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4: f: 1.803857e+04 d: 5.58e+02 g: 2.69e+04 h: 8.66e+01 rho: 9.93e-01 mu: 3.69e+05 li: 1 it: 1.62e-01 tt: 1.02e+00
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5: f: 1.803391e+04 d: 4.66e+00 g: 3.11e+02 h: 1.02e+01 rho: 1.00e+00 mu: 1.11e+06 li: 1 it: 1.61e-01 tt: 1.18e+00
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Ceres Solver Report
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-------------------
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Ceres Solver v1.10.0 Solve Report
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----------------------------------
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Original Reduced
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Parameter blocks 22122 22122
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Parameters 66462 66462
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@@ -190,7 +190,7 @@ Solving
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Sparse linear algebra library SUITE_SPARSE
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Trust region strategy LEVENBERG_MARQUARDT
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Given Used
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Given Used
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Linear solver SPARSE_SCHUR SPARSE_SCHUR
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Threads 1 1
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Linear solver threads 1 1
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@@ -206,15 +206,15 @@ Solving
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Unsuccessful steps 0
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Time (in seconds):
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Preprocessor 0.243
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Preprocessor 0.283
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Residual evaluation 0.053
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Jacobian evaluation 0.435
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Linear solver 0.371
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Minimizer 0.940
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Residual evaluation 0.061
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Jacobian evaluation 0.361
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Linear solver 0.382
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Minimizer 0.895
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Postprocessor 0.002
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Total 1.221
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Total 1.220
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Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
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@@ -225,17 +225,18 @@ Solving
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.. code-block:: bash
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Time (in seconds):
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Preprocessor 0.243
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Preprocessor 0.283
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Residual evaluation 0.053
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Jacobian evaluation 0.435
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Linear solver 0.371
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Minimizer 0.940
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Residual evaluation 0.061
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Jacobian evaluation 0.361
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Linear solver 0.382
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Minimizer 0.895
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Postprocessor 0.002
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Total 1.221
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Total 1.220
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Which tell us that of the total 1.2 seconds, about .4 seconds was
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Which tell us that of the total 1.2 seconds, about .3 seconds was
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spent in the linear solver and the rest was mostly spent in
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preprocessing and jacobian evaluation.
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@@ -256,17 +257,19 @@ Solving
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.. code-block:: bash
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Time (in seconds):
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Preprocessor 0.058
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Preprocessor 0.051
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Residual evaluation 0.050
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Jacobian evaluation 0.416
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Linear solver 0.360
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Minimizer 0.903
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Residual evaluation 0.053
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Jacobian evaluation 0.344
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Linear solver 0.372
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Minimizer 0.854
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Postprocessor 0.002
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Total 0.998
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Total 0.935
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The preprocessor time has gone down by more than 4x!.
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The preprocessor time has gone down by more than 5.5x!.
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Further Reading
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===============
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+18
-17
@@ -1377,28 +1377,29 @@ elimination group [LiSaad]_.
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.. code-block:: bash
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0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 6.91e-06 tt: 1.91e-03
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1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li: 1 it: 2.81e-05 tt: 1.99e-03
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2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li: 1 it: 1.00e-05 tt: 2.01e-03
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 4.185660e+06 0.00e+00 1.09e+08 0.00e+00 0.00e+00 1.00e+04 0 7.59e-02 3.37e-01
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1 1.062590e+05 4.08e+06 8.99e+06 5.36e+02 9.82e-01 3.00e+04 1 1.65e-01 5.03e-01
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2 4.992817e+04 5.63e+04 8.32e+06 3.19e+02 6.52e-01 3.09e+04 1 1.45e-01 6.48e-01
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Here
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#. ``f`` is the value of the objective function.
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#. ``d`` is the change in the value of the objective function if
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the step computed in this iteration is accepted.
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#. ``g`` is the max norm of the gradient.
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#. ``h`` is the change in the parameter vector.
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#. ``rho`` is the ratio of the actual change in the objective
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#. ``cost`` is the value of the objective function.
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#. ``cost_change`` is the change in the value of the objective
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function if the step computed in this iteration is accepted.
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#. ``|gradient|`` is the max norm of the gradient.
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#. ``|step|`` is the change in the parameter vector.
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#. ``tr_ratio`` is the ratio of the actual change in the objective
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function value to the change in the the value of the trust
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region model.
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#. ``mu`` is the size of the trust region radius.
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#. ``li`` is the number of linear solver iterations used to compute
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the trust region step. For direct/factorization based solvers it
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is always 1, for iterative solvers like ``ITERATIVE_SCHUR`` it
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is the number of iterations of the Conjugate Gradients
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algorithm.
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#. ``it`` is the time take by the current iteration.
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#. ``tt`` is the the total time taken by the minimizer.
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#. ``tr_radius`` is the size of the trust region radius.
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#. ``ls_iter`` is the number of linear solver iterations used to
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compute the trust region step. For direct/factorization based
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solvers it is always 1, for iterative solvers like
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``ITERATIVE_SCHUR`` it is the number of iterations of the
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Conjugate Gradients algorithm.
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#. ``iter_time`` is the time take by the current iteration.
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#. ``total_time`` is the the total time taken by the minimizer.
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For ``LINE_SEARCH_MINIMIZER`` the progress display looks like
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+82
-38
@@ -133,11 +133,12 @@ gives us
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.. code-block:: bash
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0: f: 1.250000e+01 d: 0.00e+00 g: 5.00e+00 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 6.91e-06 tt: 1.91e-03
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1: f: 1.249750e-07 d: 1.25e+01 g: 5.00e-04 h: 5.00e+00 rho: 1.00e+00 mu: 3.00e+04 li: 1 it: 2.81e-05 tt: 1.99e-03
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2: f: 1.388518e-16 d: 1.25e-07 g: 1.67e-08 h: 5.00e-04 rho: 1.00e+00 mu: 9.00e+04 li: 1 it: 1.00e-05 tt: 2.01e-03
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Ceres Solver Report: Iterations: 2, Initial cost: 1.250000e+01, Final cost: 1.388518e-16, Termination: CONVERGENCE.
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x : 5 -> 10
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 4.512500e+01 0.00e+00 9.50e+00 0.00e+00 0.00e+00 1.00e+04 0 5.33e-04 3.46e-03
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1 4.511598e-07 4.51e+01 9.50e-04 9.50e+00 1.00e+00 3.00e+04 1 5.00e-04 4.05e-03
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2 5.012552e-16 4.51e-07 3.17e-08 9.50e-04 1.00e+00 9.00e+04 1 1.60e-05 4.09e-03
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Ceres Solver Report: Iterations: 2, Initial cost: 4.512500e+01, Final cost: 5.012552e-16, Termination: CONVERGENCE
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x : 0.5 -> 10
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Starting from a :math:`x=5`, the solver in two iterations goes to 10
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[#f2]_. The careful reader will note that this is a linear problem and
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@@ -373,21 +374,64 @@ gives us:
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.. code-block:: bash
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Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
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0: f: 1.075000e+02 d: 0.00e+00 g: 1.55e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 0.00e+00 tt: 0.00e+00
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1: f: 5.036190e+00 d: 1.02e+02 g: 2.00e+01 h: 2.16e+00 rho: 9.53e-01 mu: 3.00e+04 li: 1 it: 0.00e+00 tt: 0.00e+00
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2: f: 3.148168e-01 d: 4.72e+00 g: 2.50e+00 h: 6.23e-01 rho: 9.37e-01 mu: 9.00e+04 li: 1 it: 0.00e+00 tt: 0.00e+00
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3: f: 1.967760e-02 d: 2.95e-01 g: 3.13e-01 h: 3.08e-01 rho: 9.37e-01 mu: 2.70e+05 li: 1 it: 0.00e+00 tt: 0.00e+00
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4: f: 1.229900e-03 d: 1.84e-02 g: 3.91e-02 h: 1.54e-01 rho: 9.37e-01 mu: 8.10e+05 li: 1 it: 0.00e+00 tt: 0.00e+00
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5: f: 7.687123e-05 d: 1.15e-03 g: 4.89e-03 h: 7.69e-02 rho: 9.37e-01 mu: 2.43e+06 li: 1 it: 0.00e+00 tt: 0.00e+00
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6: f: 4.804625e-06 d: 7.21e-05 g: 6.11e-04 h: 3.85e-02 rho: 9.37e-01 mu: 7.29e+06 li: 1 it: 0.00e+00 tt: 0.00e+00
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7: f: 3.003028e-07 d: 4.50e-06 g: 7.64e-05 h: 1.92e-02 rho: 9.37e-01 mu: 2.19e+07 li: 1 it: 0.00e+00 tt: 0.00e+00
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8: f: 1.877006e-08 d: 2.82e-07 g: 9.54e-06 h: 9.62e-03 rho: 9.37e-01 mu: 6.56e+07 li: 1 it: 0.00e+00 tt: 0.00e+00
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9: f: 1.173223e-09 d: 1.76e-08 g: 1.19e-06 h: 4.81e-03 rho: 9.37e-01 mu: 1.97e+08 li: 1 it: 0.00e+00 tt: 0.00e+00
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10: f: 7.333425e-11 d: 1.10e-09 g: 1.49e-07 h: 2.40e-03 rho: 9.37e-01 mu: 5.90e+08 li: 1 it: 0.00e+00 tt: 0.00e+00
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11: f: 4.584044e-12 d: 6.88e-11 g: 1.86e-08 h: 1.20e-03 rho: 9.37e-01 mu: 1.77e+09 li: 1 it: 0.00e+00 tt: 0.00e+00
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Ceres Solver Report: Iterations: 12, Initial cost: 1.075000e+02, Final cost: 4.584044e-12, Termination: CONVERGENCE.
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Final x1 = 0.00116741, x2 = -0.000116741, x3 = 0.000190535, x4 = 0.000190535
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Initial x1 = 3, x2 = -1, x3 = 0, x4 = 1
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iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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0 1.075000e+02 0.00e+00 1.55e+02 0.00e+00 0.00e+00 1.00e+04 0 4.95e-04 2.30e-03
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1 5.036190e+00 1.02e+02 2.00e+01 2.16e+00 9.53e-01 3.00e+04 1 4.39e-05 2.40e-03
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2 3.148168e-01 4.72e+00 2.50e+00 6.23e-01 9.37e-01 9.00e+04 1 9.06e-06 2.43e-03
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3 1.967760e-02 2.95e-01 3.13e-01 3.08e-01 9.37e-01 2.70e+05 1 8.11e-06 2.45e-03
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4 1.229900e-03 1.84e-02 3.91e-02 1.54e-01 9.37e-01 8.10e+05 1 6.91e-06 2.48e-03
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5 7.687123e-05 1.15e-03 4.89e-03 7.69e-02 9.37e-01 2.43e+06 1 7.87e-06 2.50e-03
|
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6 4.804625e-06 7.21e-05 6.11e-04 3.85e-02 9.37e-01 7.29e+06 1 5.96e-06 2.52e-03
|
||||
7 3.003028e-07 4.50e-06 7.64e-05 1.92e-02 9.37e-01 2.19e+07 1 5.96e-06 2.55e-03
|
||||
8 1.877006e-08 2.82e-07 9.54e-06 9.62e-03 9.37e-01 6.56e+07 1 5.96e-06 2.57e-03
|
||||
9 1.173223e-09 1.76e-08 1.19e-06 4.81e-03 9.37e-01 1.97e+08 1 7.87e-06 2.60e-03
|
||||
10 7.333425e-11 1.10e-09 1.49e-07 2.40e-03 9.37e-01 5.90e+08 1 6.20e-06 2.63e-03
|
||||
11 4.584044e-12 6.88e-11 1.86e-08 1.20e-03 9.37e-01 1.77e+09 1 6.91e-06 2.65e-03
|
||||
12 2.865573e-13 4.30e-12 2.33e-09 6.02e-04 9.37e-01 5.31e+09 1 5.96e-06 2.67e-03
|
||||
13 1.791438e-14 2.69e-13 2.91e-10 3.01e-04 9.37e-01 1.59e+10 1 7.15e-06 2.69e-03
|
||||
|
||||
Ceres Solver v1.10.0 Solve Report
|
||||
----------------------------------
|
||||
Original Reduced
|
||||
Parameter blocks 4 4
|
||||
Parameters 4 4
|
||||
Residual blocks 4 4
|
||||
Residual 4 4
|
||||
|
||||
Minimizer TRUST_REGION
|
||||
|
||||
Dense linear algebra library EIGEN
|
||||
Trust region strategy LEVENBERG_MARQUARDT
|
||||
|
||||
Given Used
|
||||
Linear solver DENSE_QR DENSE_QR
|
||||
Threads 1 1
|
||||
Linear solver threads 1 1
|
||||
|
||||
Cost:
|
||||
Initial 1.075000e+02
|
||||
Final 1.791438e-14
|
||||
Change 1.075000e+02
|
||||
|
||||
Minimizer iterations 14
|
||||
Successful steps 14
|
||||
Unsuccessful steps 0
|
||||
|
||||
Time (in seconds):
|
||||
Preprocessor 0.002
|
||||
|
||||
Residual evaluation 0.000
|
||||
Jacobian evaluation 0.000
|
||||
Linear solver 0.000
|
||||
Minimizer 0.001
|
||||
|
||||
Postprocessor 0.000
|
||||
Total 0.005
|
||||
|
||||
Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10)
|
||||
|
||||
Final x1 = 0.000292189, x2 = -2.92189e-05, x3 = 4.79511e-05, x4 = 4.79511e-05
|
||||
|
||||
It is easy to see that the optimal solution to this problem is at
|
||||
:math:`x_1=0, x_2=0, x_3=0, x_4=0` with an objective function value of
|
||||
@@ -461,24 +505,24 @@ gives us:
|
||||
|
||||
.. code-block:: bash
|
||||
|
||||
0: f: 1.211734e+02 d: 0.00e+00 g: 3.61e+02 h: 0.00e+00 rho: 0.00e+00 mu: 1.00e+04 li: 0 it: 0.00e+00 tt: 0.00e+00
|
||||
1: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.52e-01 rho:-1.87e+01 mu: 5.00e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
2: f: 1.211734e+02 d:-2.21e+03 g: 3.61e+02 h: 7.51e-01 rho:-1.86e+01 mu: 1.25e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
3: f: 1.211734e+02 d:-2.19e+03 g: 3.61e+02 h: 7.48e-01 rho:-1.85e+01 mu: 1.56e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
4: f: 1.211734e+02 d:-2.02e+03 g: 3.61e+02 h: 7.22e-01 rho:-1.70e+01 mu: 9.77e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
5: f: 1.211734e+02 d:-7.34e+02 g: 3.61e+02 h: 5.78e-01 rho:-6.32e+00 mu: 3.05e-01 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
6: f: 3.306595e+01 d: 8.81e+01 g: 4.10e+02 h: 3.18e-01 rho: 1.37e+00 mu: 9.16e-01 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
7: f: 6.426770e+00 d: 2.66e+01 g: 1.81e+02 h: 1.29e-01 rho: 1.10e+00 mu: 2.75e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
8: f: 3.344546e+00 d: 3.08e+00 g: 5.51e+01 h: 3.05e-02 rho: 1.03e+00 mu: 8.24e+00 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
9: f: 1.987485e+00 d: 1.36e+00 g: 2.33e+01 h: 8.87e-02 rho: 9.94e-01 mu: 2.47e+01 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
10: f: 1.211585e+00 d: 7.76e-01 g: 8.22e+00 h: 1.05e-01 rho: 9.89e-01 mu: 7.42e+01 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
11: f: 1.063265e+00 d: 1.48e-01 g: 1.44e+00 h: 6.06e-02 rho: 9.97e-01 mu: 2.22e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
12: f: 1.056795e+00 d: 6.47e-03 g: 1.18e-01 h: 1.47e-02 rho: 1.00e+00 mu: 6.67e+02 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
13: f: 1.056751e+00 d: 4.39e-05 g: 3.79e-03 h: 1.28e-03 rho: 1.00e+00 mu: 2.00e+03 li: 1 it: 0.00e+00 tt: 0.00e+00
|
||||
Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE.
|
||||
Initial m: 0 c: 0
|
||||
Final m: 0.291861 c: 0.131439
|
||||
|
||||
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
|
||||
0 1.211734e+02 0.00e+00 3.61e+02 0.00e+00 0.00e+00 1.00e+04 0 5.34e-04 2.56e-03
|
||||
1 1.211734e+02 -2.21e+03 0.00e+00 7.52e-01 -1.87e+01 5.00e+03 1 4.29e-05 3.25e-03
|
||||
2 1.211734e+02 -2.21e+03 0.00e+00 7.51e-01 -1.86e+01 1.25e+03 1 1.10e-05 3.28e-03
|
||||
3 1.211734e+02 -2.19e+03 0.00e+00 7.48e-01 -1.85e+01 1.56e+02 1 1.41e-05 3.31e-03
|
||||
4 1.211734e+02 -2.02e+03 0.00e+00 7.22e-01 -1.70e+01 9.77e+00 1 1.00e-05 3.34e-03
|
||||
5 1.211734e+02 -7.34e+02 0.00e+00 5.78e-01 -6.32e+00 3.05e-01 1 1.00e-05 3.36e-03
|
||||
6 3.306595e+01 8.81e+01 4.10e+02 3.18e-01 1.37e+00 9.16e-01 1 2.79e-05 3.41e-03
|
||||
7 6.426770e+00 2.66e+01 1.81e+02 1.29e-01 1.10e+00 2.75e+00 1 2.10e-05 3.45e-03
|
||||
8 3.344546e+00 3.08e+00 5.51e+01 3.05e-02 1.03e+00 8.24e+00 1 2.10e-05 3.48e-03
|
||||
9 1.987485e+00 1.36e+00 2.33e+01 8.87e-02 9.94e-01 2.47e+01 1 2.10e-05 3.52e-03
|
||||
10 1.211585e+00 7.76e-01 8.22e+00 1.05e-01 9.89e-01 7.42e+01 1 2.10e-05 3.56e-03
|
||||
11 1.063265e+00 1.48e-01 1.44e+00 6.06e-02 9.97e-01 2.22e+02 1 2.60e-05 3.61e-03
|
||||
12 1.056795e+00 6.47e-03 1.18e-01 1.47e-02 1.00e+00 6.67e+02 1 2.10e-05 3.64e-03
|
||||
13 1.056751e+00 4.39e-05 3.79e-03 1.28e-03 1.00e+00 2.00e+03 1 2.10e-05 3.68e-03
|
||||
Ceres Solver Report: Iterations: 13, Initial cost: 1.211734e+02, Final cost: 1.056751e+00, Termination: CONVERGENCE
|
||||
Initial m: 0 c: 0
|
||||
Final m: 0.291861 c: 0.131439
|
||||
|
||||
Starting from parameter values :math:`m = 0, c=0` with an initial
|
||||
objective function value of :math:`121.173` Ceres finds a solution
|
||||
|
||||
Reference in New Issue
Block a user