fixed cost evaluation has floating point issues

Question

Original issue 29 created by sandwichmaker on 2012-05-17T04:52:35.000Z:

Currently the way the fixed part of the cost is evaluated, is by doing a full eval outside the solver followed by a partial eval inside the solver -- using the residual blocks that are active and taking their difference. This leads to floating point errors of about 1e-13 in relative magnitude.

The right way to deal with this is to estimate the fixed cost in solver_impl.cc by evaluating the inactive residual block.

该提问来源于开源项目：ceres-solver/ceres-solver

Answer 1

Comment #1 originally posted by sandwichmaker on 2012-07-13T15:11:35.000Z:

While trying to familiarize myself with ceres's internals a bit more (I am tempted to try to add a few things), I thought this would be an easy and instructive exercise (although probably as irrelevant as it gets). I have attached the result.