| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142 | // 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)#include "ceres/residual_block_utils.h"#include <cmath>#include <cstddef>#include <limits>#include "ceres/array_utils.h"#include "ceres/internal/eigen.h"#include "ceres/internal/port.h"#include "ceres/parameter_block.h"#include "ceres/residual_block.h"#include "ceres/stringprintf.h"#include "glog/logging.h"namespace ceres {namespace internal {using std::string;void InvalidateEvaluation(const ResidualBlock& block,                          double* cost,                          double* residuals,                          double** jacobians) {  const int num_parameter_blocks = block.NumParameterBlocks();  const int num_residuals = block.NumResiduals();  InvalidateArray(1, cost);  InvalidateArray(num_residuals, residuals);  if (jacobians != NULL) {    for (int i = 0; i < num_parameter_blocks; ++i) {      const int parameter_block_size = block.parameter_blocks()[i]->Size();      InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);    }  }}string EvaluationToString(const ResidualBlock& block,                          double const* const* parameters,                          double* cost,                          double* residuals,                          double** jacobians) {  CHECK(cost != nullptr);  CHECK(residuals != nullptr);  const int num_parameter_blocks = block.NumParameterBlocks();  const int num_residuals = block.NumResiduals();  string result = "";  StringAppendF(&result,                "Residual Block size: %d parameter blocks x %d residuals\n\n",                num_parameter_blocks, num_residuals);  result +=      "For each parameter block, the value of the parameters are printed in the first column   \n"  // NOLINT      "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n"  // NOLINT      "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n"  // NOLINT      "of the Jacobian/residual array was requested but was not written to by user code, it is \n"  // NOLINT      "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n"  // NOLINT      "to Inf or NaN is also an error.  \n\n"; // NOLINT  string space = "Residuals:     ";  result += space;  AppendArrayToString(num_residuals, residuals, &result);  StringAppendF(&result, "\n\n");  for (int i = 0; i < num_parameter_blocks; ++i) {    const int parameter_block_size = block.parameter_blocks()[i]->Size();    StringAppendF(        &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);    StringAppendF(&result, "\n");    for (int j = 0; j < parameter_block_size; ++j) {      AppendArrayToString(1, parameters[i] + j, &result);      StringAppendF(&result, "| ");      for (int k = 0; k < num_residuals; ++k) {        AppendArrayToString(1,                            (jacobians != NULL && jacobians[i] != NULL)                            ? jacobians[i] + k * parameter_block_size + j                            : NULL,                            &result);      }      StringAppendF(&result, "\n");    }    StringAppendF(&result, "\n");  }  StringAppendF(&result, "\n");  return result;}bool IsEvaluationValid(const ResidualBlock& block,                       double const* const* parameters,                       double* cost,                       double* residuals,                       double** jacobians) {  const int num_parameter_blocks = block.NumParameterBlocks();  const int num_residuals = block.NumResiduals();  if (!IsArrayValid(num_residuals, residuals)) {    return false;  }  if (jacobians != NULL) {    for (int i = 0; i < num_parameter_blocks; ++i) {      const int parameter_block_size = block.parameter_blocks()[i]->Size();      if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {        return false;      }    }  }  return true;}}  // namespace internal}  // namespace ceres
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