| // 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. |
| // |
| // Authors: keir@google.com (Keir Mierle), |
| // dgossow@google.com (David Gossow) |
| |
| #ifndef CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_ |
| #define CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_ |
| |
| #include <mutex> |
| #include <string> |
| |
| #include "ceres/cost_function.h" |
| #include "ceres/iteration_callback.h" |
| #include "ceres/local_parameterization.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class ProblemImpl; |
| |
| // Callback that collects information about gradient checking errors, and |
| // will abort the solve as soon as an error occurs. |
| class GradientCheckingIterationCallback : public IterationCallback { |
| public: |
| GradientCheckingIterationCallback(); |
| |
| // Will return SOLVER_CONTINUE until a gradient error has been detected, |
| // then return SOLVER_ABORT. |
| virtual CallbackReturnType operator()(const IterationSummary& summary); |
| |
| // Notify this that a gradient error has occurred (thread safe). |
| void SetGradientErrorDetected(std::string& error_log); |
| |
| // Retrieve error status (not thread safe). |
| bool gradient_error_detected() const { return gradient_error_detected_; } |
| const std::string& error_log() const { return error_log_; } |
| private: |
| bool gradient_error_detected_; |
| std::string error_log_; |
| std::mutex mutex_; |
| }; |
| |
| // Creates a CostFunction that checks the Jacobians that cost_function computes |
| // with finite differences. This API is only intended for unit tests that intend |
| // to check the functionality of the GradientCheckingCostFunction |
| // implementation directly. |
| CostFunction* CreateGradientCheckingCostFunction( |
| const CostFunction* cost_function, |
| const std::vector<const LocalParameterization*>* local_parameterizations, |
| double relative_step_size, |
| double relative_precision, |
| const std::string& extra_info, |
| GradientCheckingIterationCallback* callback); |
| |
| // Create a new ProblemImpl object from the input problem_impl, where all |
| // cost functions are wrapped so that each time their Evaluate method is called, |
| // an additional check is performed that compares the Jacobians computed by |
| // the original cost function with alternative Jacobians computed using |
| // numerical differentiation. If local parameterizations are given for any |
| // parameters, the Jacobians will be compared in the local space instead of the |
| // ambient space. For details on the gradient checking procedure, see the |
| // documentation of the GradientChecker class. If an error is detected in any |
| // iteration, the respective cost function will notify the |
| // GradientCheckingIterationCallback. |
| // |
| // The caller owns the returned ProblemImpl object. |
| // |
| // Note: This is quite inefficient and is intended only for debugging. |
| // |
| // relative_step_size and relative_precision are parameters to control |
| // the numeric differentiation and the relative tolerance between the |
| // jacobian computed by the CostFunctions in problem_impl and |
| // jacobians obtained by numerically differentiating them. See the |
| // documentation of 'numeric_derivative_relative_step_size' in solver.h for a |
| // better explanation. |
| ProblemImpl* CreateGradientCheckingProblemImpl( |
| ProblemImpl* problem_impl, |
| double relative_step_size, |
| double relative_precision, |
| GradientCheckingIterationCallback* callback); |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_GRADIENT_CHECKING_COST_FUNCTION_H_ |