81 lines
3.4 KiB
C++
81 lines
3.4 KiB
C++
// 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.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
//
|
|
// Utility routines for ResidualBlock evaluation.
|
|
//
|
|
// These are useful for detecting two common class of errors.
|
|
//
|
|
// 1. Uninitialized memory - where the user for some reason did not
|
|
// compute part of a cost/residual/jacobian.
|
|
//
|
|
// 2. Numerical failure while computing the cost/residual/jacobian,
|
|
// e.g. NaN, infinities etc. This is particularly useful since the
|
|
// automatic differentiation code does computations that are not
|
|
// evident to the user and can silently generate hard to debug errors.
|
|
|
|
#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
|
|
#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
|
|
|
|
#include <string>
|
|
#include "ceres/internal/port.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
class ResidualBlock;
|
|
|
|
// Invalidate cost, resdual and jacobian arrays (if not NULL).
|
|
void InvalidateEvaluation(const ResidualBlock& block,
|
|
double* cost,
|
|
double* residuals,
|
|
double** jacobians);
|
|
|
|
// Check if any of the arrays cost, residuals or jacobians contains an
|
|
// NaN, return true if it does.
|
|
bool IsEvaluationValid(const ResidualBlock& block,
|
|
double const* const* parameters,
|
|
double* cost,
|
|
double* residuals,
|
|
double** jacobians);
|
|
|
|
// Create a string representation of the Residual block containing the
|
|
// value of the parameters, residuals and jacobians if present.
|
|
// Useful for debugging output.
|
|
std::string EvaluationToString(const ResidualBlock& block,
|
|
double const* const* parameters,
|
|
double* cost,
|
|
double* residuals,
|
|
double** jacobians);
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_
|