81 lines
3.4 KiB
C
81 lines
3.4 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Utility routines for ResidualBlock evaluation.
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//
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// These are useful for detecting two common class of errors.
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//
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// 1. Uninitialized memory - where the user for some reason did not
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// compute part of a cost/residual/jacobian.
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//
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// 2. Numerical failure while computing the cost/residual/jacobian,
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// e.g. NaN, infinities etc. This is particularly useful since the
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// automatic differentiation code does computations that are not
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// evident to the user and can silently generate hard to debug errors.
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#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
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#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
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#include <string>
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#include "ceres/internal/port.h"
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namespace ceres {
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namespace internal {
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class ResidualBlock;
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// Invalidate cost, resdual and jacobian arrays (if not NULL).
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void InvalidateEvaluation(const ResidualBlock& block,
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double* cost,
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double* residuals,
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double** jacobians);
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// Check if any of the arrays cost, residuals or jacobians contains an
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// NaN, return true if it does.
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bool IsEvaluationValid(const ResidualBlock& block,
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double const* const* parameters,
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double* cost,
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double* residuals,
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double** jacobians);
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// Create a string representation of the Residual block containing the
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// value of the parameters, residuals and jacobians if present.
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// Useful for debugging output.
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std::string EvaluationToString(const ResidualBlock& block,
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double const* const* parameters,
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double* cost,
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double* residuals,
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double** jacobians);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
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