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 (at) 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 36 namespace ceres { 37 namespace internal { 38 39 void 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 49 void 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 57 void 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
