diff options
Diffstat (limited to 'extern/ceres/internal/ceres/residual_block.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/residual_block.cc | 29 |
1 files changed, 16 insertions, 13 deletions
diff --git a/extern/ceres/internal/ceres/residual_block.cc b/extern/ceres/internal/ceres/residual_block.cc index 0bf30bcf446..067c9efe83d 100644 --- a/extern/ceres/internal/ceres/residual_block.cc +++ b/extern/ceres/internal/ceres/residual_block.cc @@ -34,6 +34,7 @@ #include <algorithm> #include <cstddef> #include <vector> + #include "ceres/corrector.h" #include "ceres/cost_function.h" #include "ceres/internal/eigen.h" @@ -50,8 +51,10 @@ namespace ceres { namespace internal { ResidualBlock::ResidualBlock( - const CostFunction* cost_function, const LossFunction* loss_function, - const std::vector<ParameterBlock*>& parameter_blocks, int index) + const CostFunction* cost_function, + const LossFunction* loss_function, + const std::vector<ParameterBlock*>& parameter_blocks, + int index) : cost_function_(cost_function), loss_function_(loss_function), parameter_blocks_( @@ -111,22 +114,18 @@ bool ResidualBlock::Evaluate(const bool apply_loss_function, return false; } - if (!IsEvaluationValid(*this, - parameters.data(), - cost, - residuals, - eval_jacobians)) { + if (!IsEvaluationValid( + *this, parameters.data(), cost, residuals, eval_jacobians)) { + // clang-format off std::string message = "\n\n" "Error in evaluating the ResidualBlock.\n\n" "There are two possible reasons. Either the CostFunction did not evaluate and fill all \n" // NOLINT "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT "generated during the or jacobian computation. \n\n" + - EvaluationToString(*this, - parameters.data(), - cost, - residuals, - eval_jacobians); + EvaluationToString( + *this, parameters.data(), cost, residuals, eval_jacobians); + // clang-format on LOG(WARNING) << message; return false; } @@ -149,7 +148,11 @@ bool ResidualBlock::Evaluate(const bool apply_loss_function, parameter_block->LocalParameterizationJacobian(), parameter_block->Size(), parameter_block->LocalSize(), - jacobians[i], 0, 0, num_residuals, parameter_block->LocalSize()); + jacobians[i], + 0, + 0, + num_residuals, + parameter_block->LocalSize()); } } } |