Fix Solver::Summary when line search is used.

Also enable line search in bundle_adjuster.

Change-Id: Ic4343a4334b9f5a6fdeab38d4e3e1f6932bbc601

examples/bundle_adjuster.cc

@@ -112,6 +112,8 @@ DEFINE_int32(random_seed, 38401, "Random seed used to set the state "
              "of the pseudo random number generator used to generate "
              "the pertubations.");
 DEFINE_string(solver_log, "", "File to record the solver execution to.");
+DEFINE_bool(line_search, false, "Use a line search instead of trust region "
+            "algorithm.");
 
 namespace ceres {
 namespace examples {
@@ -219,6 +221,10 @@ void SetMinimizerOptions(Solver::Options* options) {
   options->eta = FLAGS_eta;
   options->max_solver_time_in_seconds = FLAGS_max_solver_time;
   options->use_nonmonotonic_steps = FLAGS_nonmonotonic_steps;
+  if (FLAGS_line_search) {
+    options->minimizer_type = ceres::LINE_SEARCH;
+  }
+
   CHECK(StringToTrustRegionStrategyType(FLAGS_trust_region_strategy,
                                         &options->trust_region_strategy_type));
   CHECK(StringToDoglegType(FLAGS_dogleg, &options->dogleg_type));

internal/ceres/line_search_minimizer.cc

@@ -194,6 +194,8 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
 
     iteration_summary = IterationSummary();
     iteration_summary.iteration = summary->iterations.back().iteration + 1;
+    iteration_summary.step_is_valid = false;
+    iteration_summary.step_is_successful = false;
 
     bool line_search_status = true;
     if (iteration_summary.iteration == 1) {
@@ -232,6 +234,8 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
     delta = current_state.step_size * current_state.search_direction;
 
     previous_state = current_state;
+    iteration_summary.step_solver_time_in_seconds =
+        WallTimeInSeconds() - iteration_start_time;
 
     // TODO(sameeragarwal): Collect stats.
     if (!evaluator->Plus(x.data(), delta.data(), x_plus_delta.data()) ||
@@ -278,6 +282,7 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options,
         + summary->preprocessor_time_in_seconds;
 
     summary->iterations.push_back(iteration_summary);
+    ++summary->num_successful_steps;
   }
 }
 

internal/ceres/solver_impl.cc

@@ -624,10 +624,11 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
       original_options.line_search_direction_type;
   summary->max_lbfgs_rank = original_options.max_lbfgs_rank;
   summary->line_search_type = original_options.line_search_type;
-  summary->num_parameter_blocks = problem_impl->NumParameterBlocks();
-  summary->num_parameters = problem_impl->NumParameters();
-  summary->num_residual_blocks = problem_impl->NumResidualBlocks();
-  summary->num_residuals = problem_impl->NumResiduals();
+  summary->num_parameter_blocks = original_program->NumParameterBlocks();
+  summary->num_parameters = original_program->NumParameters();
+  summary->num_residual_blocks = original_program->NumResidualBlocks();
+  summary->num_residuals = original_program->NumResiduals();
+  summary->num_effective_parameters = original_program->NumEffectiveParameters();
 
   // Empty programs are usually a user error.
   if (summary->num_parameter_blocks == 0) {
@@ -717,6 +718,8 @@ void SolverImpl::LineSearchSolve(const Solver::Options& original_options,
   summary->num_parameter_blocks_reduced = reduced_program->NumParameterBlocks();
   summary->num_parameters_reduced = reduced_program->NumParameters();
   summary->num_residual_blocks_reduced = reduced_program->NumResidualBlocks();
+  summary->num_effective_parameters_reduced =
+      reduced_program->NumEffectiveParameters();
   summary->num_residuals_reduced = reduced_program->NumResiduals();
 
   if (summary->num_parameter_blocks_reduced == 0) {