| // 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 |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Utility routines for ResidualBlock evaluation. |
| // |
| // These are useful for detecting two common class of errors. |
| // |
| // 1. Uninitialized memory - where the user for some reason did not |
| // compute part of a cost/residual/jacobian. |
| // |
| // 2. Numerical failure while computing the cost/residual/jacobian, |
| // e.g. NaN, infinities etc. This is particularly useful since the |
| // automatic differentiation code does computations that are not |
| // evident to the user and can silently generate hard to debug errors. |
| |
| #ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ |
| #define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ |
| |
| #include <string> |
| |
| #include "ceres/internal/export.h" |
| |
| namespace ceres::internal { |
| |
| class ResidualBlock; |
| |
| // Invalidate cost, resdual and jacobian arrays (if not nullptr). |
| CERES_NO_EXPORT |
| void InvalidateEvaluation(const ResidualBlock& block, |
| double* cost, |
| double* residuals, |
| double** jacobians); |
| |
| // Check if any of the arrays cost, residuals or jacobians contains an |
| // NaN, return true if it does. |
| CERES_NO_EXPORT |
| bool IsEvaluationValid(const ResidualBlock& block, |
| double const* const* parameters, |
| double* cost, |
| double* residuals, |
| double** jacobians); |
| |
| // Create a string representation of the Residual block containing the |
| // value of the parameters, residuals and jacobians if present. |
| // Useful for debugging output. |
| CERES_NO_EXPORT |
| std::string EvaluationToString(const ResidualBlock& block, |
| double const* const* parameters, |
| double* cost, |
| double* residuals, |
| double** jacobians); |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ |