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Merge pull request #22413 from savuor:levmarq_log_level

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LevMarq: log level lowered
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Alexander Smorkalov 2022-08-23 09:22:39 +03:00 committed by GitHub
commit 505bbab75b
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1 changed files with 19 additions and 19 deletions
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38
modules/3d/src/levmarq.cpp
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@ -127,7 +127,7 @@ LevMarq::Report detail::LevMarqBase::optimize()
double oldEnergy = energy; double oldEnergy = energy;
CV_LOG_INFO(NULL, "#s" << " energy: " << energy); CV_LOG_DEBUG(NULL, "#s" << " energy: " << energy);
// diagonal clamping options // diagonal clamping options
const double minDiag = 1e-6; const double minDiag = 1e-6;
@ -167,7 +167,7 @@ LevMarq::Report detail::LevMarqBase::optimize()
{ {
// At this point we should have jtj and jtb built // At this point we should have jtj and jtb built
CV_LOG_INFO(NULL, "#LM#s" << " energy: " << energy); CV_LOG_DEBUG(NULL, "#LM#s" << " energy: " << energy);
// do the jacobian conditioning improvement used in Ceres // do the jacobian conditioning improvement used in Ceres
if (settings.jacobiScaling) if (settings.jacobiScaling)
@ -195,18 +195,18 @@ LevMarq::Report detail::LevMarqBase::optimize()
jtjDiag = lmDiag + diag; jtjDiag = lmDiag + diag;
backend->setDiag(jtjDiag); backend->setDiag(jtjDiag);
CV_LOG_INFO(NULL, "linear decompose..."); CV_LOG_DEBUG(NULL, "linear decompose...");
bool decomposed = backend->decompose(); bool decomposed = backend->decompose();
CV_LOG_INFO(NULL, (decomposed ? "OK" : "FAIL")); CV_LOG_DEBUG(NULL, (decomposed ? "OK" : "FAIL"));
CV_LOG_INFO(NULL, "linear solve..."); CV_LOG_DEBUG(NULL, "linear solve...");
// use double or convert everything to float // use double or convert everything to float
Mat_<double> x((int)jtb.rows, 1); Mat_<double> x((int)jtb.rows, 1);
bool solved = decomposed && backend->solveDecomposed(jtb, x); bool solved = decomposed && backend->solveDecomposed(jtb, x);
CV_LOG_INFO(NULL, (solved ? "OK" : "FAIL")); CV_LOG_DEBUG(NULL, (solved ? "OK" : "FAIL"));
double costChange = 0.0; double costChange = 0.0;
double jacCostChange = 0.0; double jacCostChange = 0.0;
@ -246,11 +246,11 @@ LevMarq::Report detail::LevMarqBase::optimize()
if (geoIsGood) if (geoIsGood)
x += xgeo * settings.geoScale; x += xgeo * settings.geoScale;
CV_LOG_INFO(NULL, "Geo truncerr: " << truncerr << (geoIsGood ? ", use it" : ", skip it") ); CV_LOG_DEBUG(NULL, "Geo truncerr: " << truncerr << (geoIsGood ? ", use it" : ", skip it") );
} }
else else
{ {
CV_LOG_INFO(NULL, "Geo: failed to solve"); CV_LOG_DEBUG(NULL, "Geo: failed to solve");
} }
} }
} }
@ -269,7 +269,7 @@ LevMarq::Report detail::LevMarqBase::optimize()
stepQuality = costChange / jacCostChange; stepQuality = costChange / jacCostChange;
CV_LOG_INFO(NULL, "#LM#" << iter CV_LOG_DEBUG(NULL, "#LM#" << iter
<< " energy: " << energy << " energy: " << energy
<< " deltaEnergy: " << costChange << " deltaEnergy: " << costChange
<< " deltaEqEnergy: " << jacCostChange << " deltaEqEnergy: " << jacCostChange
@ -287,7 +287,7 @@ LevMarq::Report detail::LevMarqBase::optimize()
if (settings.upDouble) if (settings.upDouble)
lmUpFactor *= 2.0; lmUpFactor *= 2.0;
CV_LOG_INFO(NULL, "LM goes up, lambda: " << lambdaLevMarq << ", old energy: " << oldEnergy); CV_LOG_DEBUG(NULL, "LM goes up, lambda: " << lambdaLevMarq << ", old energy: " << oldEnergy);
} }
else else
{ {
@ -307,11 +307,11 @@ LevMarq::Report detail::LevMarqBase::optimize()
backend->acceptProbe(); backend->acceptProbe();
CV_LOG_INFO(NULL, "#" << iter << " energy: " << energy); CV_LOG_DEBUG(NULL, "#" << iter << " energy: " << energy);
oldEnergy = energy; oldEnergy = energy;
CV_LOG_INFO(NULL, "LM goes down, lambda: " << lambdaLevMarq << " step quality: " << stepQuality); CV_LOG_DEBUG(NULL, "LM goes down, lambda: " << lambdaLevMarq << " step quality: " << stepQuality);
} }
iter++; iter++;
@ -340,20 +340,20 @@ LevMarq::Report detail::LevMarqBase::optimize()
bool found = (smallGradient || smallStep || smallEnergyDelta || smallEnergy); bool found = (smallGradient || smallStep || smallEnergyDelta || smallEnergy);
CV_LOG_INFO(NULL, "Finished: " << (found ? "" : "not ") << "found"); CV_LOG_DEBUG(NULL, "Finished: " << (found ? "" : "not ") << "found");
std::string fr = "Finish reason: "; std::string fr = "Finish reason: ";
if (settings.checkMinGradient && smallGradient) if (settings.checkMinGradient && smallGradient)
CV_LOG_INFO(NULL, fr + "gradient max val dropped below threshold"); CV_LOG_DEBUG(NULL, fr + "gradient max val dropped below threshold");
if (settings.checkStepNorm && smallStep) if (settings.checkStepNorm && smallStep)
CV_LOG_INFO(NULL, fr + "step size dropped below threshold"); CV_LOG_DEBUG(NULL, fr + "step size dropped below threshold");
if (settings.checkRelEnergyChange && smallEnergyDelta) if (settings.checkRelEnergyChange && smallEnergyDelta)
CV_LOG_INFO(NULL, fr + "relative energy change between iterations dropped below threshold"); CV_LOG_DEBUG(NULL, fr + "relative energy change between iterations dropped below threshold");
if (smallEnergy) if (smallEnergy)
CV_LOG_INFO(NULL, fr + "energy dropped below threshold"); CV_LOG_DEBUG(NULL, fr + "energy dropped below threshold");
if (tooLong) if (tooLong)
CV_LOG_INFO(NULL, fr + "max number of iterations reached"); CV_LOG_DEBUG(NULL, fr + "max number of iterations reached");
if (bigLambda) if (bigLambda)
CV_LOG_INFO(NULL, fr + "lambda has grown above the threshold, the trust region is too small"); CV_LOG_DEBUG(NULL, fr + "lambda has grown above the threshold, the trust region is too small");
return LevMarq::Report(found, iter, oldEnergy); return LevMarq::Report(found, iter, oldEnergy);
} }