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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/residual_block_utils.h"
#include <cmath>
#include <cstddef>
#include <limits>
#include <glog/logging.h>
#include "ceres/residual_block.h"
#include "ceres/parameter_block.h"
#include "ceres/stringprintf.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/port.h"
#ifdef _MSC_VER
# define isfinite _finite
#endif
namespace ceres {
namespace internal {
// It is a near impossibility that user code generates this exact
// value in normal operation, thus we will use it to fill arrays
// before passing them to user code. If on return an element of the
// array still contains this value, we will assume that the user code
// did not write to that memory location.
static const double kImpossibleValue = 1e302;
bool IsArrayValid(const int size, const double* x) {
if (x != NULL) {
for (int i = 0; i < size; ++i) {
if (!isfinite(x[i]) || (x[i] == kImpossibleValue)) {
return false;
}
}
}
return true;
}
void InvalidateArray(const int size, double* x) {
if (x != NULL) {
for (int i = 0; i < size; ++i) {
x[i] = kImpossibleValue;
}
}
}
void InvalidateEvaluation(const ResidualBlock& block,
double* cost,
double* residuals,
double** jacobians) {
const int num_parameter_blocks = block.NumParameterBlocks();
const int num_residuals = block.NumResiduals();
InvalidateArray(1, cost);
InvalidateArray(num_residuals, residuals);
if (jacobians != NULL) {
for (int i = 0; i < num_parameter_blocks; ++i) {
const int parameter_block_size = block.parameter_blocks()[i]->Size();
InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
}
}
}
// Utility routine to print an array of doubles to a string. If the
// array pointer is NULL, it is treated as an array of zeros.
void AppendArrayToString(const int size, const double* x, string* result) {
for (int i = 0; i < size; ++i) {
if (x == NULL) {
StringAppendF(result, "Not Computed ");
} else {
if (x[i] == kImpossibleValue) {
StringAppendF(result, "Uninitialized ");
} else {
StringAppendF(result, "%12g ", x[i]);
}
}
}
}
string EvaluationToString(const ResidualBlock& block,
double const* const* parameters,
double* cost,
double* residuals,
double** jacobians) {
CHECK_NOTNULL(cost);
CHECK_NOTNULL(residuals);
const int num_parameter_blocks = block.NumParameterBlocks();
const int num_residuals = block.NumResiduals();
string result = "";
StringAppendF(&result,
"Residual Block size: %d parameter blocks x %d residuals\n\n",
num_parameter_blocks, num_residuals);
result +=
"For each parameter block, the value of the parameters are printed in the first column \n" // NOLINT
"and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n" // NOLINT
"held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n" // NOLINT
"of the Jacobian/residual array was requested but was not written to by user code, it is \n" // NOLINT
"indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n" // NOLINT
"to Inf or NaN is also an error. \n\n"; // NOLINT
string space = "Residuals: ";
result += space;
AppendArrayToString(num_residuals, residuals, &result);
StringAppendF(&result, "\n\n");
for (int i = 0; i < num_parameter_blocks; ++i) {
const int parameter_block_size = block.parameter_blocks()[i]->Size();
StringAppendF(
&result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
StringAppendF(&result, "\n");
for (int j = 0; j < parameter_block_size; ++j) {
AppendArrayToString(1, parameters[i] + j, &result);
StringAppendF(&result, "| ");
for (int k = 0; k < num_residuals; ++k) {
AppendArrayToString(1,
(jacobians != NULL && jacobians[i] != NULL)
? jacobians[i] + k * parameter_block_size + j
: NULL,
&result);
}
StringAppendF(&result, "\n");
}
StringAppendF(&result, "\n");
}
StringAppendF(&result, "\n");
return result;
}
bool IsEvaluationValid(const ResidualBlock& block,
double const* const* parameters,
double* cost,
double* residuals,
double** jacobians) {
const int num_parameter_blocks = block.NumParameterBlocks();
const int num_residuals = block.NumResiduals();
if (!IsArrayValid(num_residuals, residuals)) {
return false;
}
if (jacobians != NULL) {
for (int i = 0; i < num_parameter_blocks; ++i) {
const int parameter_block_size = block.parameter_blocks()[i]->Size();
if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
return false;
}
}
}
return true;
}
} // namespace internal
} // namespace ceres
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