10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Copyright 2014 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 291d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include <algorithm> 3279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/summary_utils.h" 3379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/program.h" 3479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/solver.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 3979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezvoid SetSummaryFinalCost(Solver::Summary* summary) { 4079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->final_cost = summary->initial_cost; 4179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // We need the loop here, instead of just looking at the last 4279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // iteration because the minimizer maybe making non-monotonic steps. 4379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < summary->iterations.size(); ++i) { 4479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const IterationSummary& iteration_summary = summary->iterations[i]; 4579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->final_cost = min(iteration_summary.cost, summary->final_cost); 4679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 4979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezvoid SummarizeGivenProgram(const Program& program, Solver::Summary* summary) { 5079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_parameter_blocks = program.NumParameterBlocks(); 5179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_parameters = program.NumParameters(); 5279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_effective_parameters = program.NumEffectiveParameters(); 5379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_residual_blocks = program.NumResidualBlocks(); 5479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_residuals = program.NumResiduals(); 5579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 5779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezvoid SummarizeReducedProgram(const Program& program, Solver::Summary* summary) { 5879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_parameter_blocks_reduced = program.NumParameterBlocks(); 5979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_parameters_reduced = program.NumParameters(); 6079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_effective_parameters_reduced = program.NumEffectiveParameters(); 6179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_residual_blocks_reduced = program.NumResidualBlocks(); 6279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez summary->num_residuals_reduced = program.NumResiduals(); 6379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 67