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// 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 <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