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Diffstat (limited to 'internal/ceres/summary_utils.cc')
-rw-r--r-- | internal/ceres/summary_utils.cc | 66 |
1 files changed, 66 insertions, 0 deletions
diff --git a/internal/ceres/summary_utils.cc b/internal/ceres/summary_utils.cc new file mode 100644 index 0000000..243030c --- /dev/null +++ b/internal/ceres/summary_utils.cc @@ -0,0 +1,66 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2014 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 <algorithm> +#include "ceres/summary_utils.h" +#include "ceres/program.h" +#include "ceres/solver.h" + +namespace ceres { +namespace internal { + +void SetSummaryFinalCost(Solver::Summary* summary) { + summary->final_cost = summary->initial_cost; + // We need the loop here, instead of just looking at the last + // iteration because the minimizer maybe making non-monotonic steps. + for (int i = 0; i < summary->iterations.size(); ++i) { + const IterationSummary& iteration_summary = summary->iterations[i]; + summary->final_cost = min(iteration_summary.cost, summary->final_cost); + } +} + +void SummarizeGivenProgram(const Program& program, Solver::Summary* summary) { + summary->num_parameter_blocks = program.NumParameterBlocks(); + summary->num_parameters = program.NumParameters(); + summary->num_effective_parameters = program.NumEffectiveParameters(); + summary->num_residual_blocks = program.NumResidualBlocks(); + summary->num_residuals = program.NumResiduals(); +} + +void SummarizeReducedProgram(const Program& program, Solver::Summary* summary) { + summary->num_parameter_blocks_reduced = program.NumParameterBlocks(); + summary->num_parameters_reduced = program.NumParameters(); + summary->num_effective_parameters_reduced = program.NumEffectiveParameters(); + summary->num_residual_blocks_reduced = program.NumResidualBlocks(); + summary->num_residuals_reduced = program.NumResiduals(); +} + +} // namespace internal +} // namespace ceres |