diff options
Diffstat (limited to 'extern/ceres/internal/ceres/gradient_checking_cost_function.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/gradient_checking_cost_function.cc | 36 |
1 files changed, 17 insertions, 19 deletions
diff --git a/extern/ceres/internal/ceres/gradient_checking_cost_function.cc b/extern/ceres/internal/ceres/gradient_checking_cost_function.cc index 13d6c58a6b7..2eb6d627167 100644 --- a/extern/ceres/internal/ceres/gradient_checking_cost_function.cc +++ b/extern/ceres/internal/ceres/gradient_checking_cost_function.cc @@ -38,6 +38,7 @@ #include <string> #include <vector> +#include "ceres/dynamic_numeric_diff_cost_function.h" #include "ceres/gradient_checker.h" #include "ceres/internal/eigen.h" #include "ceres/parameter_block.h" @@ -45,7 +46,6 @@ #include "ceres/problem_impl.h" #include "ceres/program.h" #include "ceres/residual_block.h" -#include "ceres/dynamic_numeric_diff_cost_function.h" #include "ceres/stringprintf.h" #include "ceres/types.h" #include "glog/logging.h" @@ -81,7 +81,7 @@ class GradientCheckingCostFunction : public CostFunction { set_num_residuals(function->num_residuals()); } - virtual ~GradientCheckingCostFunction() { } + virtual ~GradientCheckingCostFunction() {} bool Evaluate(double const* const* parameters, double* residuals, @@ -92,9 +92,8 @@ class GradientCheckingCostFunction : public CostFunction { } GradientChecker::ProbeResults results; - bool okay = gradient_checker_.Probe(parameters, - relative_precision_, - &results); + bool okay = + gradient_checker_.Probe(parameters, relative_precision_, &results); // If the cost function returned false, there's nothing we can say about // the gradients. @@ -117,8 +116,9 @@ class GradientCheckingCostFunction : public CostFunction { } if (!okay) { - std::string error_log = "Gradient Error detected!\nExtra info for " - "this residual: " + extra_info_ + "\n" + results.error_log; + std::string error_log = + "Gradient Error detected!\nExtra info for this residual: " + + extra_info_ + "\n" + results.error_log; callback_->SetGradientErrorDetected(error_log); } return true; @@ -135,13 +135,12 @@ class GradientCheckingCostFunction : public CostFunction { } // namespace GradientCheckingIterationCallback::GradientCheckingIterationCallback() - : gradient_error_detected_(false) { -} + : gradient_error_detected_(false) {} CallbackReturnType GradientCheckingIterationCallback::operator()( const IterationSummary& summary) { if (gradient_error_detected_) { - LOG(ERROR)<< "Gradient error detected. Terminating solver."; + LOG(ERROR) << "Gradient error detected. Terminating solver."; return SOLVER_ABORT; } return SOLVER_CONTINUE; @@ -166,7 +165,8 @@ CostFunction* CreateGradientCheckingCostFunction( return new GradientCheckingCostFunction(cost_function, local_parameterizations, numeric_diff_options, - relative_precision, extra_info, + relative_precision, + extra_info, callback); } @@ -193,8 +193,8 @@ ProblemImpl* CreateGradientCheckingProblemImpl( NumericDiffOptions numeric_diff_options; numeric_diff_options.relative_step_size = relative_step_size; - ProblemImpl* gradient_checking_problem_impl = new ProblemImpl( - gradient_checking_problem_options); + ProblemImpl* gradient_checking_problem_impl = + new ProblemImpl(gradient_checking_problem_options); Program* program = problem_impl->mutable_program(); @@ -213,7 +213,7 @@ ProblemImpl* CreateGradientCheckingProblemImpl( parameter_block->mutable_user_state()); } - for (int i = 0; i < parameter_block->Size(); ++i) { + for (int i = 0; i < parameter_block->Size(); ++i) { gradient_checking_problem_impl->SetParameterUpperBound( parameter_block->mutable_user_state(), i, @@ -235,8 +235,8 @@ ProblemImpl* CreateGradientCheckingProblemImpl( // Build a human readable string which identifies the // ResidualBlock. This is used by the GradientCheckingCostFunction // when logging debugging information. - string extra_info = StringPrintf( - "Residual block id %d; depends on parameters [", i); + string extra_info = + StringPrintf("Residual block id %d; depends on parameters [", i); vector<double*> parameter_blocks; vector<const LocalParameterization*> local_parameterizations; parameter_blocks.reserve(residual_block->NumParameterBlocks()); @@ -277,13 +277,11 @@ ProblemImpl* CreateGradientCheckingProblemImpl( // depend on this being the case, so we explicitly call // SetParameterBlockStatePtrsToUserStatePtrs to ensure that this is // the case. - gradient_checking_problem_impl - ->mutable_program() + gradient_checking_problem_impl->mutable_program() ->SetParameterBlockStatePtrsToUserStatePtrs(); return gradient_checking_problem_impl; } - } // namespace internal } // namespace ceres |