mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
1fdc520f7b
more than just the residual block evaluation routines now. Check the step computed by the linear solver for finiteness, and terminate early if it is not. This will prevent bugs where the solver continues to run after encountering an nan.
81 lines
3.4 KiB
C++
81 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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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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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