Better crash error messages.
When a user requests an operation on a parameter block which has
not been added to the problem, we now display a more helpful
error message with more context.
Change-Id: Ia7e54815111eb6375b31ed0d1cddca5917138ae1
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
index ee1e32e..1c76ea6 100644
--- a/internal/ceres/problem_impl.cc
+++ b/internal/ceres/problem_impl.cc
@@ -61,15 +61,6 @@
typedef std::map<double*, internal::ParameterBlock*> ParameterMap;
namespace {
-internal::ParameterBlock* FindParameterBlockOrDie(
- const ParameterMap& parameter_map,
- double* parameter_block) {
- ParameterMap::const_iterator it = parameter_map.find(parameter_block);
- CHECK(it != parameter_map.end())
- << "Parameter block not found: " << parameter_block;
- return it->second;
-}
-
// Returns true if two regions of memory, a and b, with sizes size_a and size_b
// respectively, overlap.
bool RegionsAlias(const double* a, int size_a,
@@ -533,7 +524,12 @@
void ProblemImpl::RemoveParameterBlock(double* values) {
ParameterBlock* parameter_block =
- FindParameterBlockOrDie(parameter_block_map_, values);
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be removed.";
+ }
if (options_.enable_fast_removal) {
// Copy the dependent residuals from the parameter block because the set of
@@ -565,38 +561,81 @@
}
void ProblemImpl::SetParameterBlockConstant(double* values) {
- FindParameterBlockOrDie(parameter_block_map_, values)->SetConstant();
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be set constant.";
+ }
+
+ parameter_block->SetConstant();
}
void ProblemImpl::SetParameterBlockVariable(double* values) {
- FindParameterBlockOrDie(parameter_block_map_, values)->SetVarying();
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "it can be set varying.";
+ }
+
+ parameter_block->SetVarying();
}
void ProblemImpl::SetParameterization(
double* values,
LocalParameterization* local_parameterization) {
- FindParameterBlockOrDie(parameter_block_map_, values)
- ->SetParameterization(local_parameterization);
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set its local parameterization.";
+ }
+
+ parameter_block->SetParameterization(local_parameterization);
}
const LocalParameterization* ProblemImpl::GetParameterization(
double* values) const {
- return FindParameterBlockOrDie(parameter_block_map_, values)
- ->local_parameterization();
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its local parameterization.";
+ }
+
+ return parameter_block->local_parameterization();
}
void ProblemImpl::SetParameterLowerBound(double* values,
int index,
double lower_bound) {
- FindParameterBlockOrDie(parameter_block_map_, values)
- ->SetLowerBound(index, lower_bound);
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set a lower bound on one of its components.";
+ }
+
+ parameter_block->SetLowerBound(index, lower_bound);
}
void ProblemImpl::SetParameterUpperBound(double* values,
int index,
double upper_bound) {
- FindParameterBlockOrDie(parameter_block_map_, values)
- ->SetUpperBound(index, upper_bound);
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, values, NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can set an upper bound on one of its components.";
+ }
+ parameter_block->SetUpperBound(index, upper_bound);
}
bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
@@ -638,9 +677,14 @@
// 1. Convert double* into ParameterBlock*
parameter_blocks.resize(parameter_block_ptrs.size());
for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
- parameter_blocks[i] =
- FindParameterBlockOrDie(parameter_block_map_,
- parameter_block_ptrs[i]);
+ parameter_blocks[i] = FindWithDefault(parameter_block_map_,
+ parameter_block_ptrs[i],
+ NULL);
+ if (parameter_blocks[i] == NULL) {
+ LOG(FATAL) << "No known parameter block for "
+ << "Problem::Evaluate::Options.parameter_blocks[" << i << "]"
+ << " = " << parameter_block_ptrs[i];
+ }
}
// 2. The user may have only supplied a subset of parameter
@@ -784,14 +828,28 @@
return program_->NumResiduals();
}
-int ProblemImpl::ParameterBlockSize(const double* parameter_block) const {
- return FindParameterBlockOrDie(parameter_block_map_,
- const_cast<double*>(parameter_block))->Size();
+int ProblemImpl::ParameterBlockSize(const double* values) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its size.";
+ }
+
+ return parameter_block->Size();
}
-int ProblemImpl::ParameterBlockLocalSize(const double* parameter_block) const {
- return FindParameterBlockOrDie(
- parameter_block_map_, const_cast<double*>(parameter_block))->LocalSize();
+int ProblemImpl::ParameterBlockLocalSize(const double* values) const {
+ ParameterBlock* parameter_block =
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its local size.";
+ }
+
+ return parameter_block->LocalSize();
}
bool ProblemImpl::HasParameterBlock(const double* parameter_block) const {
@@ -840,8 +898,12 @@
const double* values,
vector<ResidualBlockId>* residual_blocks) const {
ParameterBlock* parameter_block =
- FindParameterBlockOrDie(parameter_block_map_,
- const_cast<double*>(values));
+ FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL);
+ if (parameter_block == NULL) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get the residual blocks that depend on it.";
+ }
if (options_.enable_fast_removal) {
// In this case the residual blocks that depend on the parameter block are
