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Enable support for dumping trust region minimizer problems.

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This support was broken due to the TrustRegionMinimizer refactoring.
It is now enabled again, with the responsibilty for dumping the
problem shifted to the individual TrustRegionStrategy.

There is however one wrinkle, which is perhaps an indication of
poor design to start with. The LinearLeastSquaresProblemProto
carries in it num_eliminate_blocks, something which does not
exist anymore. More importantly, the TrustRegionStrategy does not
have access to this quantity anymore.

Dealing with this will be the subject of a future change.

Change-Id: I358adf6a2e386f4940b617bf950d6c7e87d2635d
This commit is contained in:
Sameer Agarwal
2013-06-13 22:00:48 -07:00
parent 5f433c8a22
commit c4a329155c
11 changed files with 149 additions and 111 deletions
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docs/source/solving.rst
+23 -17
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@@ -1172,29 +1172,32 @@ elimination group [LiSaad]_.
#. ``it`` is the time take by the current iteration.
#. ``tt`` is the the total time taken by the minimizer.
.. member:: vector<int> Solver::Options::lsqp_iterations_to_dump
.. member:: vector<int> Solver::Options::trust_region_minimizer_iterations_to_dump
Default: ``empty``
List of iterations at which the optimizer should dump the linear
least squares problem to disk. Useful for testing and
benchmarking. If ``empty``, no problems are dumped.
List of iterations at which the trust region minimizer should dump
the trust region problem. Useful for testing and benchmarking. If
``empty``, no problems are dumped.
.. member:: string Solver::Options::lsqp_dump_directory
.. member:: string Solver::Options::trust_region_problem_dump_directory
Default: ``/tmp``
If :member:`Solver::Options::lsqp_iterations_to_dump` is non-empty, then
this setting determines the directory to which the files containing
the linear least squares problems are written to.
Directory to which the problems should be written to. Should be
non-empty if
:member:`Solver::Options::trust_region_minimizer_iterations_to_dump` is
non-empty and
:member:`Solver::Options::trust_region_problem_dump_format_type` is not
``CONSOLE``.
.. member:: DumpFormatType Solver::Options::lsqp_dump_format
.. member:: DumpFormatType Solver::Options::trust_region_problem_dump_format
Default: ``TEXTFILE``
The format in which linear least squares problems should be logged
when :member:`Solver::Options::lsqp_iterations_to_dump` is non-empty.
There are three options:
The format in which trust region problems should be logged when
:member:`Solver::Options::trust_region_minimizer_iterations_to_dump`
is non-empty. There are three options:
* ``CONSOLE`` prints the linear least squares problem in a human
readable format to ``stderr``. The Jacobian is printed as a
@@ -1203,22 +1206,25 @@ elimination group [LiSaad]_.
problems.
* ``PROTOBUF`` Write out the linear least squares problem to the
directory pointed to by :member:`Solver::Options::lsqp_dump_directory` as
directory pointed to by
:member:`Solver::Options::trust_region_problem_dump_directory` as
a protocol buffer. ``linear_least_squares_problems.h/cc``
contains routines for loading these problems. For details on the
on disk format used, see ``matrix.proto``. The files are named
``lm_iteration_???.lsqp``. This requires that ``protobuf`` be
``ceres_solver_iteration_???.bin``. This requires that ``protobuf`` be
linked into Ceres Solver.
* ``TEXTFILE`` Write out the linear least squares problem to the
directory pointed to by member::`Solver::Options::lsqp_dump_directory` as
directory pointed to by
:member:`Solver::Options::trust_region_problem_dump_directory` as
text files which can be read into ``MATLAB/Octave``. The Jacobian
is dumped as a text file containing :math:`(i,j,s)` triplets, the
vectors :math:`D`, `x` and `f` are dumped as text files
containing a list of their values.
A ``MATLAB/Octave`` script called ``lm_iteration_???.m`` is also
output, which can be used to parse and load the problem into memory.
A ``MATLAB/Octave`` script called
``ceres_solver_iteration_???.m`` is also output, which can be
used to parse and load the problem into memory.
.. member:: bool Solver::Options::check_gradients