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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2014 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: sameeragarwal (at) google.com (Sameer Agarwal)
     30 
     31 #include <iostream>  // NO LINT
     32 #include "ceres/callbacks.h"
     33 #include "ceres/program.h"
     34 #include "ceres/stringprintf.h"
     35 #include "glog/logging.h"
     36 
     37 namespace ceres {
     38 namespace internal {
     39 
     40 StateUpdatingCallback::StateUpdatingCallback(Program* program,
     41                                              double* parameters)
     42     : program_(program), parameters_(parameters) {}
     43 
     44 StateUpdatingCallback::~StateUpdatingCallback() {}
     45 
     46 CallbackReturnType StateUpdatingCallback::operator()(
     47     const IterationSummary& summary) {
     48   if (summary.step_is_successful) {
     49     program_->StateVectorToParameterBlocks(parameters_);
     50     program_->CopyParameterBlockStateToUserState();
     51   }
     52   return SOLVER_CONTINUE;
     53 }
     54 
     55 LoggingCallback::LoggingCallback(const MinimizerType minimizer_type,
     56                                  const bool log_to_stdout)
     57     : minimizer_type(minimizer_type),
     58       log_to_stdout_(log_to_stdout) {}
     59 
     60 LoggingCallback::~LoggingCallback() {}
     61 
     62 CallbackReturnType LoggingCallback::operator()(
     63     const IterationSummary& summary) {
     64   string output;
     65   if (minimizer_type == LINE_SEARCH) {
     66     const char* kReportRowFormat =
     67         "% 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e "
     68         "s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e";
     69     output = StringPrintf(kReportRowFormat,
     70                           summary.iteration,
     71                           summary.cost,
     72                           summary.cost_change,
     73                           summary.gradient_max_norm,
     74                           summary.step_norm,
     75                           summary.step_size,
     76                           summary.line_search_function_evaluations,
     77                           summary.iteration_time_in_seconds,
     78                           summary.cumulative_time_in_seconds);
     79   } else if (minimizer_type == TRUST_REGION) {
     80     if (summary.iteration == 0) {
     81       output = "iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time\n";
     82     }
     83     const char* kReportRowFormat =
     84         "% 4d % 8e   % 3.2e   % 3.2e  % 3.2e  % 3.2e % 3.2e     % 3d   % 3.2e   % 3.2e";
     85     output += StringPrintf(kReportRowFormat,
     86                           summary.iteration,
     87                           summary.cost,
     88                           summary.cost_change,
     89                           summary.gradient_max_norm,
     90                           summary.step_norm,
     91                           summary.relative_decrease,
     92                           summary.trust_region_radius,
     93                           summary.linear_solver_iterations,
     94                           summary.iteration_time_in_seconds,
     95                           summary.cumulative_time_in_seconds);
     96   } else {
     97     LOG(FATAL) << "Unknown minimizer type.";
     98   }
     99 
    100   if (log_to_stdout_) {
    101     cout << output << endl;
    102   } else {
    103     VLOG(1) << output;
    104   }
    105   return SOLVER_CONTINUE;
    106 }
    107 
    108 }  // namespace internal
    109 }  // namespace ceres
    110