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Move IterationCallbacks into their own file.

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1. Merge TrustRegionLoggingCallback and LineSearchLoggingCallback
   into a single callback.
2. Move the callbacks into callback.h
3. Update SolverImpl to use the new callbacks.

Change-Id: I9e82173cf2b828d023d96c57d1cba17f4832aeae
This commit is contained in:
Sameer Agarwal
2014-05-29 14:04:59 -07:00
parent b766177bab
commit f5e81b61e7
4 changed files with 184 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/CMakeLists.txt
+1
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@@ -43,6 +43,7 @@ SET(CERES_INTERNAL_SRC
c_api.cc
canonical_views_clustering.cc
cgnr_solver.cc
callbacks.cc
compressed_col_sparse_matrix_utils.cc
compressed_row_jacobian_writer.cc
compressed_row_sparse_matrix.cc
internal/ceres/callbacks.cc
+107
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@@ -0,0 +1,107 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2014 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include <iostream> // NO LINT
#include "ceres/callbacks.h"
#include "ceres/program.h"
#include "ceres/stringprintf.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
StateUpdatingCallback::StateUpdatingCallback(Program* program,
double* parameters)
: program_(program), parameters_(parameters) {}
StateUpdatingCallback::~StateUpdatingCallback() {}
CallbackReturnType StateUpdatingCallback::operator()(
const IterationSummary& summary) {
if (summary.step_is_successful) {
program_->StateVectorToParameterBlocks(parameters_);
program_->CopyParameterBlockStateToUserState();
}
return SOLVER_CONTINUE;
}
LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
const bool log_to_stdout)
: minimizer_type(minimizer_type),
log_to_stdout_(log_to_stdout) {}
LoggingCallback::~LoggingCallback() {}
CallbackReturnType LoggingCallback::operator()(
const IterationSummary& summary) {
string output;
if (minimizer_type == LINE_SEARCH) {
const char* kReportRowFormat =
"% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
"s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
output = StringPrintf(kReportRowFormat,
summary.iteration,
summary.cost,
summary.cost_change,
summary.gradient_max_norm,
summary.step_norm,
summary.step_size,
summary.line_search_function_evaluations,
summary.iteration_time_in_seconds,
summary.cumulative_time_in_seconds);
} else if (minimizer_type == TRUST_REGION) {
const char* kReportRowFormat =
"% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
"rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e";
output = StringPrintf(kReportRowFormat,
summary.iteration,
summary.cost,
summary.cost_change,
summary.gradient_max_norm,
summary.step_norm,
summary.relative_decrease,
summary.trust_region_radius,
summary.linear_solver_iterations,
summary.iteration_time_in_seconds,
summary.cumulative_time_in_seconds);
} else {
LOG(FATAL) << "Unknown minimizer type.";
}
if (log_to_stdout_) {
cout << output << endl;
} else {
VLOG(1) << output;
}
return SOLVER_CONTINUE;
}
} // namespace internal
} // namespace ceres
internal/ceres/callbacks.h
+71
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@@ -0,0 +1,71 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2014 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_CALLBACKS_H_
#define CERES_INTERNAL_CALLBACKS_H_
#include <string>
#include "ceres/iteration_callback.h"
#include "ceres/internal/port.h"
namespace ceres {
namespace internal {
class Program;
// Callback for updating the externally visible state of parameter
// blocks.
class StateUpdatingCallback : public IterationCallback {
public:
StateUpdatingCallback(Program* program, double* parameters);
virtual ~StateUpdatingCallback();
virtual CallbackReturnType operator()(const IterationSummary& summary);
private:
Program* program_;
double* parameters_;
};
// Callback for logging the state of the minimizer to STDERR or
// STDOUT depending on the user's preferences and logging level.
class LoggingCallback : public IterationCallback {
public:
LoggingCallback(MinimizerType minimizer_type, bool log_to_stdout);
virtual ~LoggingCallback();
virtual CallbackReturnType operator()(const IterationSummary& summary);
private:
const MinimizerType minimizer_type;
const bool log_to_stdout_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_CALLBACKS_H_
internal/ceres/solver_impl.cc
+5 -124
View File
@@ -35,6 +35,7 @@
#include <numeric>
#include <string>
#include "ceres/array_utils.h"
#include "ceres/callbacks.h"
#include "ceres/coordinate_descent_minimizer.h"
#include "ceres/cxsparse.h"
#include "ceres/evaluator.h"
@@ -61,26 +62,6 @@ namespace ceres {
namespace internal {
namespace {
// Callback for updating the user's parameter blocks. Updates are only
// done if the step is successful.
class StateUpdatingCallback : public IterationCallback {
public:
StateUpdatingCallback(Program* program, double* parameters)
: program_(program), parameters_(parameters) {}
CallbackReturnType operator()(const IterationSummary& summary) {
if (summary.step_is_successful) {
program_->StateVectorToParameterBlocks(parameters_);
program_->CopyParameterBlockStateToUserState();
}
return SOLVER_CONTINUE;
}
private:
Program* program_;
double* parameters_;
};
void SetSummaryFinalCost(Solver::Summary* summary) {
summary->final_cost = summary->initial_cost;
// We need the loop here, instead of just looking at the last
@@ -91,106 +72,6 @@ void SetSummaryFinalCost(Solver::Summary* summary) {
}
}
// Callback for logging the state of the minimizer to STDERR or STDOUT
// depending on the user's preferences and logging level.
class TrustRegionLoggingCallback : public IterationCallback {
public:
explicit TrustRegionLoggingCallback(bool log_to_stdout)
: log_to_stdout_(log_to_stdout) {}
~TrustRegionLoggingCallback() {}
CallbackReturnType operator()(const IterationSummary& summary) {
const char* kReportRowFormat =
"% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
"rho:% 3.2e mu:% 3.2e li:% 3d it:% 3.2e tt:% 3.2e";
string output = StringPrintf(kReportRowFormat,
summary.iteration,
summary.cost,
summary.cost_change,
summary.gradient_max_norm,
summary.step_norm,
summary.relative_decrease,
summary.trust_region_radius,
summary.linear_solver_iterations,
summary.iteration_time_in_seconds,
summary.cumulative_time_in_seconds);
if (log_to_stdout_) {
cout << output << endl;
} else {
VLOG(1) << output;
}
return SOLVER_CONTINUE;
}
private:
const bool log_to_stdout_;
};
// Callback for logging the state of the minimizer to STDERR or STDOUT
// depending on the user's preferences and logging level.
class LineSearchLoggingCallback : public IterationCallback {
public:
explicit LineSearchLoggingCallback(bool log_to_stdout)
: log_to_stdout_(log_to_stdout) {}
~LineSearchLoggingCallback() {}
CallbackReturnType operator()(const IterationSummary& summary) {
const char* kReportRowFormat =
"% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
"s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
string output = StringPrintf(kReportRowFormat,
summary.iteration,
summary.cost,
summary.cost_change,
summary.gradient_max_norm,
summary.step_norm,
summary.step_size,
summary.line_search_function_evaluations,
summary.iteration_time_in_seconds,
summary.cumulative_time_in_seconds);
if (log_to_stdout_) {
cout << output << endl;
} else {
VLOG(1) << output;
}
return SOLVER_CONTINUE;
}
private:
const bool log_to_stdout_;
};
// Basic callback to record the execution of the solver to a file for
// offline analysis.
class FileLoggingCallback : public IterationCallback {
public:
explicit FileLoggingCallback(const string& filename)
: fptr_(NULL) {
fptr_ = fopen(filename.c_str(), "w");
CHECK_NOTNULL(fptr_);
}
virtual ~FileLoggingCallback() {
if (fptr_ != NULL) {
fclose(fptr_);
}
}
virtual CallbackReturnType operator()(const IterationSummary& summary) {
fprintf(fptr_,
"%4d %e %e\n",
summary.iteration,
summary.cost,
summary.cumulative_time_in_seconds);
return SOLVER_CONTINUE;
}
private:
FILE* fptr_;
};
// Iterate over each of the groups in order of their priority and fill
// summary with their sizes.
void SummarizeOrdering(ParameterBlockOrdering* ordering,
@@ -422,8 +303,8 @@ void SolverImpl::TrustRegionMinimize(
// vector.
program->ParameterBlocksToStateVector(parameters.data());
TrustRegionLoggingCallback logging_callback(
options.minimizer_progress_to_stdout);
LoggingCallback logging_callback(TRUST_REGION,
options.minimizer_progress_to_stdout);
if (options.logging_type != SILENT) {
minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
&logging_callback);
@@ -487,8 +368,8 @@ void SolverImpl::LineSearchMinimize(
// Collect the discontiguous parameters into a contiguous state vector.
program->ParameterBlocksToStateVector(parameters.data());
LineSearchLoggingCallback logging_callback(
options.minimizer_progress_to_stdout);
LoggingCallback logging_callback(LINE_SEARCH,
options.minimizer_progress_to_stdout);
if (options.logging_type != SILENT) {
minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
&logging_callback);