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NikolausDemmel/ceres 1.14

Created August 29, 2020 13:23
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ceres 1.14 vs 2.0 bundle adjustment with photometric residuals
Raw
ceres 1.14
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.278079e+09 0.00e+00 2.00e+08 0.00e+00 0.00e+00 1.00e+10 0 4.22e+01 2.40e+02
1 5.390256e+09 8.88e+08 2.00e+08 6.00e+01 1.81e+00 3.00e+10 1 6.64e+01 3.44e+02
2 4.989417e+09 4.01e+08 2.00e+08 4.89e+01 1.77e+00 9.00e+10 1 5.84e+01 4.39e+02
3 4.785329e+09 2.04e+08 2.00e+08 4.36e+01 1.76e+00 2.70e+11 1 5.90e+01 5.36e+02
4 4.672209e+09 1.13e+08 2.00e+08 4.32e+01 1.76e+00 8.10e+11 1 5.86e+01 6.32e+02
5 4.604432e+09 6.78e+07 2.00e+08 6.78e+01 1.75e+00 2.43e+12 1 5.83e+01 7.28e+02
6 4.560632e+09 4.38e+07 2.00e+08 1.13e+02 1.73e+00 7.29e+12 1 5.85e+01 8.24e+02
7 4.531752e+09 2.89e+07 2.00e+08 1.81e+02 1.60e+00 2.19e+13 1 5.85e+01 9.20e+02
8 4.508471e+09 2.33e+07 2.00e+08 1.20e+02 1.62e+00 6.56e+13 1 5.87e+01 1.02e+03
9 4.490487e+09 1.80e+07 2.00e+08 7.69e+01 1.60e+00 1.97e+14 1 5.85e+01 1.11e+03
10 4.476388e+09 1.41e+07 2.00e+08 3.74e+01 1.58e+00 5.90e+14 1 5.84e+01 1.21e+03
11 4.465949e+09 1.04e+07 2.00e+08 3.01e+01 1.47e+00 1.77e+15 1 5.91e+01 1.30e+03
12 4.457737e+09 8.21e+06 2.00e+08 2.63e+01 1.43e+00 5.31e+15 1 5.84e+01 1.40e+03
13 4.451579e+09 6.16e+06 1.99e+08 2.21e+01 1.29e+00 1.00e+16 1 5.90e+01 1.50e+03
14 4.446656e+09 4.92e+06 2.00e+08 1.96e+01 1.22e+00 1.00e+16 1 5.81e+01 1.59e+03
15 4.442937e+09 3.72e+06 1.97e+08 1.60e+01 1.06e+00 1.00e+16 1 5.87e+01 1.69e+03
16 4.439735e+09 3.20e+06 2.00e+08 1.47e+01 1.02e+00 1.00e+16 1 5.82e+01 1.78e+03
17 4.437346e+09 2.39e+06 1.88e+08 1.08e+01 8.36e-01 1.00e+16 1 5.95e+01 1.88e+03
18 4.435116e+09 2.23e+06 1.70e+08 9.97e+00 8.59e-01 1.00e+16 1 5.91e+01 1.98e+03
19 4.433439e+09 1.68e+06 1.60e+08 8.04e+00 6.80e-01 1.00e+16 1 5.84e+01 2.07e+03
20 4.431800e+09 1.64e+06 1.37e+08 7.72e+00 7.06e-01 1.00e+16 1 5.81e+01 2.17e+03
Solver Summary (v 1.14.0-eigen-(3.3.90)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-openmp-no_tbb)
Original Reduced
Parameter blocks 1709940 1709936
Parameters 1733936 1733924
Effective parameters 1729937 1729926
Residual blocks 19722227 19722227
Residuals 157777816 157777816
Minimizer TRUST_REGION
Sparse linear algebra library SUITE_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 12 12
Linear solver ordering AUTOMATIC 1705938,3998
Schur structure 8,1,6 8,1,6
Cost:
Initial 6.278079e+09
Final 4.431800e+09
Change 1.846279e+09
Minimizer iterations 21
Successful steps 21
Unsuccessful steps 0
Time (in seconds):
Preprocessor 197.669053
Residual only evaluation 74.001634 (20)
Jacobian & residual evaluation 654.092466 (21)
Linear solver 333.242769 (20)
Minimizer 2008.090963
Postprocessor 1.308913
Total 2207.068930
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 20.)
Raw
ceres 2.0
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.278079e+09 0.00e+00 2.00e+08 0.00e+00 0.00e+00 1.00e+10 0 4.30e+01 2.41e+02
1 5.390256e+09 8.88e+08 2.00e+08 6.00e+01 1.81e+00 3.00e+10 1 5.73e+01 3.36e+02
2 4.989417e+09 4.01e+08 2.00e+08 4.89e+01 1.77e+00 9.00e+10 1 4.93e+01 4.23e+02
3 4.785329e+09 2.04e+08 2.00e+08 4.36e+01 1.76e+00 2.70e+11 1 4.88e+01 5.09e+02
4 4.672209e+09 1.13e+08 2.00e+08 4.32e+01 1.76e+00 8.10e+11 1 4.96e+01 5.96e+02
5 4.604432e+09 6.78e+07 2.00e+08 6.78e+01 1.75e+00 2.43e+12 1 4.90e+01 6.82e+02
6 4.560633e+09 4.38e+07 2.00e+08 1.13e+02 1.73e+00 7.29e+12 1 4.89e+01 7.68e+02
7 4.531751e+09 2.89e+07 2.00e+08 1.81e+02 1.60e+00 2.19e+13 1 4.92e+01 8.55e+02
8 4.508471e+09 2.33e+07 2.00e+08 1.20e+02 1.62e+00 6.56e+13 1 4.87e+01 9.41e+02
9 4.490487e+09 1.80e+07 2.00e+08 7.69e+01 1.60e+00 1.97e+14 1 4.97e+01 1.03e+03
10 4.476388e+09 1.41e+07 2.00e+08 3.74e+01 1.58e+00 5.90e+14 1 4.89e+01 1.11e+03
11 4.465952e+09 1.04e+07 2.00e+08 3.01e+01 1.47e+00 1.77e+15 1 4.86e+01 1.20e+03
12 4.457746e+09 8.21e+06 2.00e+08 2.63e+01 1.43e+00 5.31e+15 1 4.89e+01 1.29e+03
13 4.451577e+09 6.17e+06 1.99e+08 2.21e+01 1.29e+00 1.00e+16 1 4.93e+01 1.37e+03
14 4.446656e+09 4.92e+06 2.00e+08 1.96e+01 1.22e+00 1.00e+16 1 4.91e+01 1.46e+03
15 4.442945e+09 3.71e+06 1.97e+08 1.59e+01 1.05e+00 1.00e+16 1 4.88e+01 1.55e+03
16 4.439724e+09 3.22e+06 2.00e+08 1.47e+01 1.02e+00 1.00e+16 1 4.84e+01 1.63e+03
17 4.437326e+09 2.40e+06 1.88e+08 1.10e+01 8.43e-01 1.00e+16 1 4.97e+01 1.72e+03
18 4.435135e+09 2.19e+06 1.70e+08 1.01e+01 8.40e-01 1.00e+16 1 4.87e+01 1.80e+03
19 4.433449e+09 1.69e+06 1.60e+08 8.13e+00 6.78e-01 1.00e+16 1 4.87e+01 1.89e+03
20 4.431833e+09 1.62e+06 1.38e+08 7.68e+00 6.95e-01 1.00e+16 1 4.90e+01 1.98e+03
Solver Summary (v 2.0.0-eigen-(3.3.90)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-no_openmp)
Original Reduced
Parameter blocks 1709940 1709936
Parameters 1733936 1733924
Effective parameters 1729937 1729926
Residual blocks 19722227 19722227
Residuals 157777816 157777816
Minimizer TRUST_REGION
Sparse linear algebra library SUITE_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver SPARSE_SCHUR SPARSE_SCHUR
Threads 12 12
Linear solver ordering AUTOMATIC 1705938,3998
Schur structure 8,1,6 8,1,6
Cost:
Initial 6.278079e+09
Final 4.431833e+09
Change 1.846247e+09
Minimizer iterations 21
Successful steps 21
Unsuccessful steps 0
Time (in seconds):
Preprocessor 197.863905
Residual only evaluation 90.332412 (20)
Jacobian & residual evaluation 668.254664 (21)
Linear solver 116.452425 (20)
Minimizer 1816.120953
Postprocessor 1.304881
Total 2015.289740
Termination: NO_CONVERGENCE (Maximum number of iterations reached. Number of iterations: 20.)
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