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Documentation update.

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Update the documentation to reflect the new trust region solver
logging style.

Change-Id: Id2d6b9efeee86c690c349a225d344e9f97ddbcdf
This commit is contained in:
Sameer Agarwal
2014-06-05 12:38:42 -07:00
committed by Keir Mierle
parent 252917655b
commit 4fce29c29e
4 changed files with 172 additions and 124 deletions
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docs/source/faqs.rst
+33 -30
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@@ -169,16 +169,16 @@ Solving
./bin/bundle_adjuster --input ../data/problem-16-22106-pre.txt
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
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
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
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
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
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
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
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
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
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
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
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
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
Ceres Solver Report
-------------------
Ceres Solver v1.10.0 Solve Report
----------------------------------
Original Reduced
Parameter blocks 22122 22122
Parameters 66462 66462
@@ -190,7 +190,7 @@ Solving
Sparse linear algebra library SUITE_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 1 1
Linear solver threads 1 1
@@ -206,15 +206,15 @@ Solving
Unsuccessful steps 0
Time (in seconds):
Preprocessor 0.243
Preprocessor 0.283
Residual evaluation 0.053
Jacobian evaluation 0.435
Linear solver 0.371
Minimizer 0.940
Residual evaluation 0.061
Jacobian evaluation 0.361
Linear solver 0.382
Minimizer 0.895
Postprocessor 0.002
Total 1.221
Total 1.220
Termination: NO_CONVERGENCE (Maximum number of iterations reached.)
@@ -225,17 +225,18 @@ Solving
.. code-block:: bash
Time (in seconds):
Preprocessor 0.243
Preprocessor 0.283
Residual evaluation 0.053
Jacobian evaluation 0.435
Linear solver 0.371
Minimizer 0.940
Residual evaluation 0.061
Jacobian evaluation 0.361
Linear solver 0.382
Minimizer 0.895
Postprocessor 0.002
Total 1.221
Total 1.220
Which tell us that of the total 1.2 seconds, about .4 seconds was
Which tell us that of the total 1.2 seconds, about .3 seconds was
spent in the linear solver and the rest was mostly spent in
preprocessing and jacobian evaluation.
@@ -256,17 +257,19 @@ Solving
.. code-block:: bash
Time (in seconds):
Preprocessor 0.058
Preprocessor 0.051
Residual evaluation 0.050
Jacobian evaluation 0.416
Linear solver 0.360
Minimizer 0.903
Residual evaluation 0.053
Jacobian evaluation 0.344
Linear solver 0.372
Minimizer 0.854
Postprocessor 0.002
Total 0.998
Total 0.935
The preprocessor time has gone down by more than 4x!.
The preprocessor time has gone down by more than 5.5x!.
Further Reading
===============