1// Ceres Solver - A fast non-linear least squares minimizer
2// Copyright 2014 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//
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9//   this list of conditions and the following disclaimer.
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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
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28//
29// Author: sameeragarwal@google.com (Sameer Agarwal)
30
31#include <algorithm>
32#include "ceres/summary_utils.h"
33#include "ceres/program.h"
34#include "ceres/solver.h"
35
36namespace ceres {
37namespace internal {
38
39void SetSummaryFinalCost(Solver::Summary* summary) {
40  summary->final_cost = summary->initial_cost;
41  // We need the loop here, instead of just looking at the last
42  // iteration because the minimizer maybe making non-monotonic steps.
43  for (int i = 0; i < summary->iterations.size(); ++i) {
44    const IterationSummary& iteration_summary = summary->iterations[i];
45    summary->final_cost = min(iteration_summary.cost, summary->final_cost);
46  }
47}
48
49void SummarizeGivenProgram(const Program& program, Solver::Summary* summary) {
50  summary->num_parameter_blocks     = program.NumParameterBlocks();
51  summary->num_parameters           = program.NumParameters();
52  summary->num_effective_parameters = program.NumEffectiveParameters();
53  summary->num_residual_blocks      = program.NumResidualBlocks();
54  summary->num_residuals            = program.NumResiduals();
55}
56
57void SummarizeReducedProgram(const Program& program, Solver::Summary* summary) {
58  summary->num_parameter_blocks_reduced     = program.NumParameterBlocks();
59  summary->num_parameters_reduced           = program.NumParameters();
60  summary->num_effective_parameters_reduced = program.NumEffectiveParameters();
61  summary->num_residual_blocks_reduced      = program.NumResidualBlocks();
62  summary->num_residuals_reduced            = program.NumResiduals();
63}
64
65}  // namespace internal
66}  // namespace ceres
67