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Diffstat (limited to 'internal/ceres/residual_block_utils.cc')
| -rw-r--r-- | internal/ceres/residual_block_utils.cc | 156 |
1 files changed, 156 insertions, 0 deletions
diff --git a/internal/ceres/residual_block_utils.cc b/internal/ceres/residual_block_utils.cc new file mode 100644 index 0000000..ff18e21 --- /dev/null +++ b/internal/ceres/residual_block_utils.cc @@ -0,0 +1,156 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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/port.h" +#include "ceres/parameter_block.h" +#include "ceres/residual_block.h" +#include "ceres/stringprintf.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +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 != NULL) { + 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]); + } + } +} + +// Utility routine to print an array of doubles to a string. If the +// array pointer is NULL, it is treated as an array of zeros. +void AppendArrayToString(const int size, const double* x, string* result) { + for (int i = 0; i < size; ++i) { + if (x == NULL) { + StringAppendF(result, "Not Computed "); + } else { + if (x[i] == kImpossibleValue) { + StringAppendF(result, "Uninitialized "); + } else { + StringAppendF(result, "%12g ", x[i]); + } + } + } +} + +string EvaluationToString(const ResidualBlock& block, + double const* const* parameters, + double* cost, + double* residuals, + double** jacobians) { + CHECK_NOTNULL(cost); + CHECK_NOTNULL(residuals); + + const int num_parameter_blocks = block.NumParameterBlocks(); + const int num_residuals = block.NumResiduals(); + string result = ""; + + 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 + + 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 != NULL && jacobians[i] != NULL) + ? jacobians[i] + k * parameter_block_size + j + : NULL, + &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 != NULL) { + 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 internal +} // namespace ceres |