vnl_lbfgs.cxx

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// This is core/vnl/algo/vnl_lbfgs.cxx
//:
// \file
//
// \author Andrew W. Fitzgibbon, Oxford RRG
// \date   22 Aug 99
//
//-----------------------------------------------------------------------------

#include <cmath>
#include <iostream>
#include <iomanip>
#include "vnl_lbfgs.h"

#include <vnl/algo/vnl_netlib.h> // lbfgs_()

//: Default constructor.
// memory is set to 5, line_search_accuracy to 0.9.
// Calls init_parameters
vnl_lbfgs::vnl_lbfgs():
  f_(nullptr)
{
  init_parameters();
}

//: Constructor. f is the cost function to be minimized.
// Calls init_parameters
vnl_lbfgs::vnl_lbfgs(vnl_cost_function& f):
  f_(&f)
{
  init_parameters();
}

//: Called by constructors.
// Memory is set to 5, line_search_accuracy to 0.9, default_step_length to 1.
void vnl_lbfgs::init_parameters()
{
  memory = 5;
  line_search_accuracy = 0.9;
  default_step_length = 1.0;
}

bool vnl_lbfgs::minimize(vnl_vector<double>& x)
{
  // Local variables
  // The driver for vnl_lbfgs must always declare LB2 as EXTERNAL

  long n = f_->get_number_of_unknowns();
  long m = memory; // The number of basis vectors to remember.

  // Create an instance of the lbfgs global data to pass as an
  // argument.  It must persist through all calls in this
  // minimization.
  v3p_netlib_lbfgs_global_t lbfgs_global;
  v3p_netlib_lbfgs_init(&lbfgs_global);

  long iprint[2] = {1, 0};
  vnl_vector<double> g(n);

  // Workspace
  vnl_vector<double> diag(n);

  vnl_vector<double> w(n * (2*m+1)+2*m);

  if (verbose_)
    std::cerr << "vnl_lbfgs: n = "<< n <<", memory = "<< m <<", Workspace = "
             << w.size() << "[ "<< ( w.size() / 128.0 / 1024.0) <<" MB], ErrorScale = "
             << f_->reported_error(1) <<", xnorm = "<< x.magnitude() << std::endl;

  bool we_trace = (verbose_ && !trace);

  if (we_trace)
    std::cerr << "vnl_lbfgs: ";

  double best_f = 0;
  vnl_vector<double> best_x;

  bool ok;
  this->num_evaluations_ = 0;
  this->num_iterations_ = 0;
  long iflag = 0;
  while (true) {
    // We do not wish to provide the diagonal matrices Hk0, and therefore set DIAGCO to FALSE.
    v3p_netlib_logical diagco = false;

    // Set these every iter in case user changes them to bail out
    double eps = gtol; // Gradient tolerance
    double local_xtol = 1e-16;
    lbfgs_global.gtol = line_search_accuracy; // set to 0.1 for huge problems or cheap functions
    lbfgs_global.stpinit = default_step_length;

    // Call function
    double f;
    f_->compute(x, &f, &g);
    if (this->num_evaluations_ == 0) {
      this->start_error_ = f;
      best_x = x;
      best_f = f;
    } else if (f < best_f) {
      best_x = x;
      best_f = f;
    }

#define print_(i,a,b,c,d) std::cerr<<std::setw(6)<<(i)<<' '<<std::setw(20)<<(a)<<' '\
           <<std::setw(20)<<(b)<<' '<<std::setw(20)<<(c)<<' '<<std::setw(20)<<(d)<<'\n'

    if (check_derivatives_)
    {
      std::cerr << "vnl_lbfgs: f = " << f_->reported_error(f) << ", computing FD gradient\n";
      vnl_vector<double> fdg = f_->fdgradf(x);
      if (verbose_)
      {
        int l = n;
        int limit = 100;
        int limit_tail = 10;
        if (l > limit + limit_tail) {
          std::cerr << " [ Showing only first " <<limit<< " components ]\n";
          l = limit;
        }
        print_("i","x","g","fdg","dg");
        print_("-","-","-","---","--");
        for (int i = 0; i < l; ++i)
          print_(i, x[i], g[i], fdg[i], g[i]-fdg[i]);
        if (n > limit) {
          std::cerr << "   ...\n";
          for (int i = n - limit_tail; i < n; ++i)
            print_(i, x[i], g[i], fdg[i], g[i]-fdg[i]);
        }
      }
      std::cerr << "   ERROR = " << (fdg - g).squared_magnitude() / std::sqrt(double(n)) << "\n";
    }

    iprint[0] = trace ? 1 : -1; // -1 no o/p, 0 start and end, 1 every iter.
    iprint[1] = 0; // 1 prints X and G
    v3p_netlib_lbfgs_(
      &n, &m, x.data_block(), &f, g.data_block(), &diagco, diag.data_block(),
      iprint, &eps, &local_xtol, w.data_block(), &iflag, &lbfgs_global);

    this->report_eval(f);

    if (this->report_iter()) {
      failure_code_ = FAILED_USER_REQUEST;
      ok = false;
      x = best_x;
      break;
    }

    if (we_trace)
      std::cerr << iflag << ":" << f_->reported_error(f) << " ";

    if (iflag == 0) {
      // Successful return
      this->end_error_ = f;
      ok = true;
      x = best_x;
      break;
    }

    if (iflag < 0) {
      // Netlib routine lbfgs failed
      std::cerr << "vnl_lbfgs: Error. Netlib routine lbfgs failed.\n";
      ok = false;
      x = best_x;
      break;
    }

    if (this->num_evaluations_ > get_max_function_evals()) {
      failure_code_ = TOO_MANY_ITERATIONS;
      ok = false;
      x = best_x;
      break;
    }

  }
  if (we_trace) std::cerr << "done\n";

  return ok;
}