mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
2dd907744d
ResidualBlock evaluation has logic to ensure that CostFunction should always fill out the residual and jacobian arrays completely by using a special value to pre-populate these arrays. This works for CostFunctions with analytical Jacobians but not for AutoDiffCostFunction and NumericDiffCostFunction Jacobians. There is no way to fix this for NumericDiffCostFunctions without introducing significant performance penalties but the residual evaluation fails, which should be enough to catch such errors. For AutoDiffCostFunction the way the Jets are default initialized was sidestepping this check. So now, the Jet that is used to capture the output residuals is now initialized with kImpossibleValue, which will ensure that if the user forgets to fill all output fields, it triggers an evaluation error. This change required that ceres::internal::kImpossibleValue be moved out of array_utils.h/cc to types.h. Change-Id: I35bb0946cf0785a5d43c7b5459a2272848fb2a9b
88 lines
3.6 KiB
C++
88 lines
3.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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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// Author: sameeragarwal@google.com (Sameer Agarwal)
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//
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// Utility routines for validating arrays.
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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 an array, but the code expects it.
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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_ARRAY_UTILS_H_
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#define CERES_INTERNAL_ARRAY_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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// Fill the array x with an impossible value that the user code is
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// never expected to compute.
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void InvalidateArray(int size, double* x);
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// Check if all the entries of the array x are valid, i.e. all the
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// values in the array should be finite and none of them should be
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// equal to the "impossible" value used by InvalidateArray.
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bool IsArrayValid(int size, const double* x);
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// If the array contains an invalid value, return the index for it,
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// otherwise return size.
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int FindInvalidValue(const int size, const double* x);
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// Utility routine to print an array of doubles to a string. If the
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// array pointer is NULL, it is treated as an array of zeros.
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void AppendArrayToString(const int size, const double* x, std::string* result);
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// This routine takes an array of integer values, sorts and uniques
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// them and then maps each value in the array to its position in the
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// sorted+uniqued array. By doing this, if there are are k unique
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// values in the array, each value is replaced by an integer in the
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// range [0, k-1], while preserving their relative order.
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//
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// For example
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//
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// [1 0 3 5 0 1 5]
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//
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// gets mapped to
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//
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// [1 0 2 3 0 1 3]
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void MapValuesToContiguousRange(int size, int* array);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_ARRAY_UTILS_H_
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