1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3// http://code.google.com/p/ceres-solver/
4//
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are met:
7//
8// * Redistributions of source code must retain the above copyright notice,
9//   this list of conditions and the following disclaimer.
10// * Redistributions in binary form must reproduce the above copyright notice,
11//   this list of conditions and the following disclaimer in the documentation
12//   and/or other materials provided with the distribution.
13// * Neither the name of Google Inc. nor the names of its contributors may be
14//   used to endorse or promote products derived from this software without
15//   specific prior written permission.
16//
17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27// POSSIBILITY OF SUCH DAMAGE.
28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include "ceres/residual_block_utils.h"
32
33#include <cmath>
34#include <cstddef>
35#include <limits>
36#include "ceres/array_utils.h"
37#include "ceres/internal/eigen.h"
38#include "ceres/internal/port.h"
39#include "ceres/parameter_block.h"
40#include "ceres/residual_block.h"
41#include "ceres/stringprintf.h"
42#include "glog/logging.h"
43
44namespace ceres {
45namespace internal {
46
47void InvalidateEvaluation(const ResidualBlock& block,
48                          double* cost,
49                          double* residuals,
50                          double** jacobians) {
51  const int num_parameter_blocks = block.NumParameterBlocks();
52  const int num_residuals = block.NumResiduals();
53
54  InvalidateArray(1, cost);
55  InvalidateArray(num_residuals, residuals);
56  if (jacobians != NULL) {
57    for (int i = 0; i < num_parameter_blocks; ++i) {
58      const int parameter_block_size = block.parameter_blocks()[i]->Size();
59      InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
60    }
61  }
62}
63
64// Utility routine to print an array of doubles to a string. If the
65// array pointer is NULL, it is treated as an array of zeros.
66namespace {
67void AppendArrayToString(const int size, const double* x, string* result) {
68  for (int i = 0; i < size; ++i) {
69    if (x == NULL) {
70      StringAppendF(result, "Not Computed  ");
71    } else {
72      if (x[i] == kImpossibleValue) {
73        StringAppendF(result, "Uninitialized ");
74      } else {
75        StringAppendF(result, "%12g ", x[i]);
76      }
77    }
78  }
79}
80}  // namespace
81
82string EvaluationToString(const ResidualBlock& block,
83                          double const* const* parameters,
84                          double* cost,
85                          double* residuals,
86                          double** jacobians) {
87  CHECK_NOTNULL(cost);
88  CHECK_NOTNULL(residuals);
89
90  const int num_parameter_blocks = block.NumParameterBlocks();
91  const int num_residuals = block.NumResiduals();
92  string result = "";
93
94  StringAppendF(&result,
95                "Residual Block size: %d parameter blocks x %d residuals\n\n",
96                num_parameter_blocks, num_residuals);
97  result +=
98      "For each parameter block, the value of the parameters are printed in the first column   \n"  // NOLINT
99      "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n"  // NOLINT
100      "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n"  // NOLINT
101      "of the Jacobian/residual array was requested but was not written to by user code, it is \n"  // NOLINT
102      "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n"  // NOLINT
103      "to Inf or NaN is also an error.  \n\n"; // NOLINT
104
105  string space = "Residuals:     ";
106  result += space;
107  AppendArrayToString(num_residuals, residuals, &result);
108  StringAppendF(&result, "\n\n");
109
110  for (int i = 0; i < num_parameter_blocks; ++i) {
111    const int parameter_block_size = block.parameter_blocks()[i]->Size();
112    StringAppendF(
113        &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
114    StringAppendF(&result, "\n");
115    for (int j = 0; j < parameter_block_size; ++j) {
116      AppendArrayToString(1, parameters[i] + j, &result);
117      StringAppendF(&result, "| ");
118      for (int k = 0; k < num_residuals; ++k) {
119        AppendArrayToString(1,
120                            (jacobians != NULL && jacobians[i] != NULL)
121                            ? jacobians[i] + k * parameter_block_size + j
122                            : NULL,
123                            &result);
124      }
125      StringAppendF(&result, "\n");
126    }
127    StringAppendF(&result, "\n");
128  }
129  StringAppendF(&result, "\n");
130  return result;
131}
132
133bool IsEvaluationValid(const ResidualBlock& block,
134                       double const* const* parameters,
135                       double* cost,
136                       double* residuals,
137                       double** jacobians) {
138  const int num_parameter_blocks = block.NumParameterBlocks();
139  const int num_residuals = block.NumResiduals();
140
141  if (!IsArrayValid(num_residuals, residuals)) {
142    return false;
143  }
144
145  if (jacobians != NULL) {
146    for (int i = 0; i < num_parameter_blocks; ++i) {
147      const int parameter_block_size = block.parameter_blocks()[i]->Size();
148      if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
149        return false;
150      }
151    }
152  }
153
154  return true;
155}
156
157}  // namespace internal
158}  // namespace ceres
159