Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/residual_block_utils.cc b/internal/ceres/residual_block_utils.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "ceres/residual_block_utils.h"
+
+#include <cmath>
+#include <cstddef>
+#include <limits>
+#include "ceres/array_utils.h"
+#include "ceres/internal/eigen.h"
+#include "ceres/internal/port.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/stringprintf.h"
+#include "glog/logging.h"
+
+namespace ceres {
+namespace internal {
+
+using std::string;
+
+void InvalidateEvaluation(const ResidualBlock& block,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ InvalidateArray(1, cost);
+ InvalidateArray(num_residuals, residuals);
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ InvalidateArray(num_residuals * parameter_block_size, jacobians[i]);
+ }
+ }
+}
+
+string EvaluationToString(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ CHECK(cost != nullptr);
+ CHECK(residuals != nullptr);
+
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+ string result = "";
+
+ StringAppendF(&result,
+ "Residual Block size: %d parameter blocks x %d residuals\n\n",
+ num_parameter_blocks, num_residuals);
+ result +=
+ "For each parameter block, the value of the parameters are printed in the first column \n" // NOLINT
+ "and the value of the jacobian under the corresponding residual. If a ParameterBlock was \n" // NOLINT
+ "held constant then the corresponding jacobian is printed as 'Not Computed'. If an entry \n" // NOLINT
+ "of the Jacobian/residual array was requested but was not written to by user code, it is \n" // NOLINT
+ "indicated by 'Uninitialized'. This is an error. Residuals or Jacobian values evaluating \n" // NOLINT
+ "to Inf or NaN is also an error. \n\n"; // NOLINT
+
+ string space = "Residuals: ";
+ result += space;
+ AppendArrayToString(num_residuals, residuals, &result);
+ StringAppendF(&result, "\n\n");
+
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ StringAppendF(
+ &result, "Parameter Block %d, size: %d\n", i, parameter_block_size);
+ StringAppendF(&result, "\n");
+ for (int j = 0; j < parameter_block_size; ++j) {
+ AppendArrayToString(1, parameters[i] + j, &result);
+ StringAppendF(&result, "| ");
+ for (int k = 0; k < num_residuals; ++k) {
+ AppendArrayToString(1,
+ (jacobians != NULL && jacobians[i] != NULL)
+ ? jacobians[i] + k * parameter_block_size + j
+ : NULL,
+ &result);
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ }
+ StringAppendF(&result, "\n");
+ return result;
+}
+
+bool IsEvaluationValid(const ResidualBlock& block,
+ double const* const* parameters,
+ double* cost,
+ double* residuals,
+ double** jacobians) {
+ const int num_parameter_blocks = block.NumParameterBlocks();
+ const int num_residuals = block.NumResiduals();
+
+ if (!IsArrayValid(num_residuals, residuals)) {
+ return false;
+ }
+
+ if (jacobians != NULL) {
+ for (int i = 0; i < num_parameter_blocks; ++i) {
+ const int parameter_block_size = block.parameter_blocks()[i]->Size();
+ if (!IsArrayValid(num_residuals * parameter_block_size, jacobians[i])) {
+ return false;
+ }
+ }
+ }
+
+ return true;
+}
+
+} // namespace internal
+} // namespace ceres