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// Utility routines for ResidualBlock evaluation. 32// 33// These are useful for detecting two common class of errors. 34// 35// 1. Uninitialized memory - where the user for some reason did not 36// compute part of a cost/residual/jacobian. 37// 38// 2. Numerical failure while computing the cost/residual/jacobian, 39// e.g. NaN, infinities etc. This is particularly useful since the 40// automatic differentiation code does computations that are not 41// evident to the user and can silently generate hard to debug errors. 42 43#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 44#define CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 45 46#include <string> 47#include "ceres/internal/port.h" 48 49namespace ceres { 50namespace internal { 51 52class ResidualBlock; 53 54// Invalidate cost, resdual and jacobian arrays (if not NULL). 55void InvalidateEvaluation(const ResidualBlock& block, 56 double* cost, 57 double* residuals, 58 double** jacobians); 59 60// Check if any of the arrays cost, residuals or jacobians contains an 61// NaN, return true if it does. 62bool IsEvaluationValid(const ResidualBlock& block, 63 double const* const* parameters, 64 double* cost, 65 double* residuals, 66 double** jacobians); 67 68// Create a string representation of the Residual block containing the 69// value of the parameters, residuals and jacobians if present. 70// Useful for debugging output. 71string EvaluationToString(const ResidualBlock& block, 72 double const* const* parameters, 73 double* cost, 74 double* residuals, 75 double** jacobians); 76 77} // namespace internal 78} // namespace ceres 79 80#endif // CERES_INTERNAL_RESIDUAL_BLOCK_UTILS_H_ 81