mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
a9977da3eb
1. Fix a bug which was causing the cost and gradient evaluation time to not be reported. 2. Add the number of times cost and gradients are evaluated to the Summary object and to the output of FullReport. Change-Id: Id0703cd2dafbf437f3e537fbdc30ae81d5f4f540
101 lines
3.8 KiB
C++
101 lines
3.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#include <map>
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#include <string>
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#include "ceres/evaluator.h"
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#include "ceres/execution_summary.h"
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#include "ceres/gradient_problem.h"
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#include "ceres/internal/port.h"
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#include "ceres/wall_time.h"
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namespace ceres {
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namespace internal {
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class GradientProblemEvaluator : public Evaluator {
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public:
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explicit GradientProblemEvaluator(const GradientProblem& problem)
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: problem_(problem) {}
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virtual ~GradientProblemEvaluator() {}
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virtual SparseMatrix* CreateJacobian() const { return NULL; }
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virtual bool Evaluate(const EvaluateOptions& evaluate_options,
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const double* state,
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double* cost,
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double* residuals,
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double* gradient,
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SparseMatrix* jacobian) {
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CHECK(jacobian == NULL);
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ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
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ScopedExecutionTimer call_type_timer(
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gradient == NULL ? "Evaluator::Cost" : "Evaluator::Gradient",
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&execution_summary_);
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execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Cost"
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: "Evaluator::Gradient");
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return problem_.Evaluate(state, cost, gradient);
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}
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virtual bool Plus(const double* state,
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const double* delta,
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double* state_plus_delta) const {
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return problem_.Plus(state, delta, state_plus_delta);
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}
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virtual int NumParameters() const {
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return problem_.NumParameters();
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}
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virtual int NumEffectiveParameters() const {
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return problem_.NumLocalParameters();
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}
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virtual int NumResiduals() const { return 1; }
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virtual std::map<std::string, int> CallStatistics() const {
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return execution_summary_.calls();
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}
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virtual std::map<std::string, double> TimeStatistics() const {
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return execution_summary_.times();
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}
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private:
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const GradientProblem& problem_;
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::ceres::internal::ExecutionSummary execution_summary_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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