mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
David Gossow
ac3b8e8217
Change the Ceres gradient checking API to make is useful for unit testing, clean up code duplication and fix interaction between gradient checking and local parameterizations. There were two gradient checking implementations, one being used when using the check_gradients flag in the Solver, the other being a standalone class. The standalone version was restricted to cost functions with fixed parameter sizes at compile time, which is being lifted here. This enables it to be used inside the GradientCheckingCostFunction as well. In addition, this installs new hooks in the Solver to ensure that Solve will fail if any incorrect gradients are detected. This way, you can set the check_gradient flags to true and detect errors in an automated way, instead of just printing error information to the log. The error log is now also returned in the Solver summary instead of being printed directly. The user can then decide what to do with it. The existing hooks for user callbacks are used for this purpose to keep the internal API changes minimal and non-invasive. The last and biggest change is the way the the interaction between local parameterizations and the gradient checker works. Before, local parameterizations would be ignored by the checker. However, if a cost function does not compute its Jacobian along the null space of the local parameterization, this wil not have any effect on the solver, but would result in a gradient checker error. With this change, the Jacobians are multiplied by the Jacobians of the respective local parameterization and thus being compared in the tangent space only. The typical use case for this are quaternion parameters, where a cost function will typically assume that the quaternion is always normalized, skipping the correct computation of the Jacobian along the normal to save computation cost. Change-Id: I5e1bb97b8a899436cea25101efe5011b0bb13282
52 lines
2.4 KiB
C++
52 lines
2.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2016 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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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// Authors: keir@google.com (Keir Mierle), dgossow@google.com (David Gossow)
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//
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// Utility routine for comparing two values.
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#ifndef CERES_INTERNAL_IS_CLOSE_H_
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#define CERES_INTERNAL_IS_CLOSE_H_
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namespace ceres {
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namespace internal {
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// Returns true if x and y have a relative (unsigned) difference less than
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// relative_precision and false otherwise. Stores the relative and absolute
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// difference in relative/absolute_error if non-NULL. If one of the two values
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// is exactly zero, the absolute difference will be compared, and relative_error
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// will be set to the absolute difference.
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bool IsClose(double x,
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double y,
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double relative_precision,
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double *relative_error,
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double *absolute_error);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_IS_CLOSE_H_
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