1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal@google.com (Sameer Agarwal) 30 // 31 // Utility routines for ResidualBlock evaluation. 32 // 33 // These are useful for detecting two common class of errors. 34 // 35 // 1. Uninitialized memory - where the user for some reason did not 36 // compute part of a cost/residual/jacobian. 37 // 38 // 2. Numerical failure while computing the cost/residual/jacobian, 39 // e.g. NaN, infinities etc. This is particularly useful since the 40 // automatic differentiation code does computations that are not 41 // evident to the user and can silently generate hard to debug errors. 42 43 #ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 44 #define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 45 46 #include <string> 47 #include "ceres/internal/port.h" 48 49 namespace ceres { 50 namespace internal { 51 52 class ResidualBlock; 53 54 // Invalidate cost, resdual and jacobian arrays (if not NULL). 55 void InvalidateEvaluation(const ResidualBlock& block, 56 double* cost, 57 double* residuals, 58 double** jacobians); 59 60 // Check if any of the arrays cost, residuals or jacobians contains an 61 // NaN, return true if it does. 62 bool IsEvaluationValid(const ResidualBlock& block, 63 double const* const* parameters, 64 double* cost, 65 double* residuals, 66 double** jacobians); 67 68 // Create a string representation of the Residual block containing the 69 // value of the parameters, residuals and jacobians if present. 70 // Useful for debugging output. 71 string EvaluationToString(const ResidualBlock& block, 72 double const* const* parameters, 73 double* cost, 74 double* residuals, 75 double** jacobians); 76 77 } // namespace internal 78 } // namespace ceres 79 80 #endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 81