1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2014 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
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include <algorithm>
32 #include "ceres/summary_utils.h"
33 #include "ceres/program.h"
34 #include "ceres/solver.h"
35
36 namespace ceres {
37 namespace internal {
38
SetSummaryFinalCost(Solver::Summary * summary)39 void SetSummaryFinalCost(Solver::Summary* summary) {
40 summary->final_cost = summary->initial_cost;
41 // We need the loop here, instead of just looking at the last
42 // iteration because the minimizer maybe making non-monotonic steps.
43 for (int i = 0; i < summary->iterations.size(); ++i) {
44 const IterationSummary& iteration_summary = summary->iterations[i];
45 summary->final_cost = min(iteration_summary.cost, summary->final_cost);
46 }
47 }
48
SummarizeGivenProgram(const Program & program,Solver::Summary * summary)49 void SummarizeGivenProgram(const Program& program, Solver::Summary* summary) {
50 summary->num_parameter_blocks = program.NumParameterBlocks();
51 summary->num_parameters = program.NumParameters();
52 summary->num_effective_parameters = program.NumEffectiveParameters();
53 summary->num_residual_blocks = program.NumResidualBlocks();
54 summary->num_residuals = program.NumResiduals();
55 }
56
SummarizeReducedProgram(const Program & program,Solver::Summary * summary)57 void SummarizeReducedProgram(const Program& program, Solver::Summary* summary) {
58 summary->num_parameter_blocks_reduced = program.NumParameterBlocks();
59 summary->num_parameters_reduced = program.NumParameters();
60 summary->num_effective_parameters_reduced = program.NumEffectiveParameters();
61 summary->num_residual_blocks_reduced = program.NumResidualBlocks();
62 summary->num_residuals_reduced = program.NumResiduals();
63 }
64
65 } // namespace internal
66 } // namespace ceres
67