| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/residual_block_utils.h" |
| |
| #include <cmath> |
| #include <cstddef> |
| #include <limits> |
| |
| #include "ceres/array_utils.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/stringprintf.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| using std::string; |
| |
| void InvalidateEvaluation(const ResidualBlock& block, |
| double* cost, |
| double* residuals, |
| double** jacobians) { |
| const int num_parameter_blocks = block.NumParameterBlocks(); |
| const int num_residuals = block.NumResiduals(); |
| |
| InvalidateArray(1, cost); |
| InvalidateArray(num_residuals, residuals); |
| if (jacobians != nullptr) { |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| const int parameter_block_size = block.parameter_blocks()[i]->Size(); |
| InvalidateArray(num_residuals * parameter_block_size, jacobians[i]); |
| } |
| } |
| } |
| |
| string EvaluationToString(const ResidualBlock& block, |
| double const* const* parameters, |
| double* cost, |
| double* residuals, |
| double** jacobians) { |
| CHECK(cost != nullptr); |
| CHECK(residuals != nullptr); |
| |
| const int num_parameter_blocks = block.NumParameterBlocks(); |
| const int num_residuals = block.NumResiduals(); |
| string result = ""; |
| |
| // clang-format off |
| StringAppendF(&result, |
| "Residual Block size: %d parameter blocks x %d residuals\n\n", |
| num_parameter_blocks, num_residuals); |
| result += |
| "For each parameter block, the value of the parameters are printed in the first column \n" // NOLINT |
| "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n" // NOLINT |
| "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n" // NOLINT |
| "of the Jacobian/residual array was requested but was not written to by user code, it is \n" // NOLINT |
| "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n" // NOLINT |
| "to Inf or NaN is also an error. \n\n"; // NOLINT |
| // clang-format on |
| |
| string space = "Residuals: "; |
| result += space; |
| AppendArrayToString(num_residuals, residuals, &result); |
| StringAppendF(&result, "\n\n"); |
| |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| const int parameter_block_size = block.parameter_blocks()[i]->Size(); |
| StringAppendF( |
| &result, "Parameter Block %d, size: %d\n", i, parameter_block_size); |
| StringAppendF(&result, "\n"); |
| for (int j = 0; j < parameter_block_size; ++j) { |
| AppendArrayToString(1, parameters[i] + j, &result); |
| StringAppendF(&result, "| "); |
| for (int k = 0; k < num_residuals; ++k) { |
| AppendArrayToString(1, |
| (jacobians != nullptr && jacobians[i] != nullptr) |
| ? jacobians[i] + k * parameter_block_size + j |
| : nullptr, |
| &result); |
| } |
| StringAppendF(&result, "\n"); |
| } |
| StringAppendF(&result, "\n"); |
| } |
| StringAppendF(&result, "\n"); |
| return result; |
| } |
| |
| bool IsEvaluationValid(const ResidualBlock& block, |
| double const* const* parameters, |
| double* cost, |
| double* residuals, |
| double** jacobians) { |
| const int num_parameter_blocks = block.NumParameterBlocks(); |
| const int num_residuals = block.NumResiduals(); |
| |
| if (!IsArrayValid(num_residuals, residuals)) { |
| return false; |
| } |
| |
| if (jacobians != nullptr) { |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| const int parameter_block_size = block.parameter_blocks()[i]->Size(); |
| if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) { |
| return false; |
| } |
| } |
| } |
| |
| return true; |
| } |
| |
| } // namespace ceres::internal |