| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 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: |
| // |
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| // 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. |
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| // 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 |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: wjr@google.com (William Rucklidge) |
| // |
| // This file contains the implementation of the conditioned cost function. |
| |
| #include "ceres/conditioned_cost_function.h" |
| |
| #include <cstddef> |
| |
| #include "ceres/internal/eigen.h" |
| #include "ceres/stl_util.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| |
| // This cost function has the same dimensions (parameters, residuals) as |
| // the one it's wrapping. |
| ConditionedCostFunction::ConditionedCostFunction( |
| CostFunction* wrapped_cost_function, |
| const std::vector<CostFunction*>& conditioners, |
| Ownership ownership) |
| : wrapped_cost_function_(wrapped_cost_function), |
| conditioners_(conditioners), |
| ownership_(ownership) { |
| // Set up our dimensions. |
| set_num_residuals(wrapped_cost_function_->num_residuals()); |
| *mutable_parameter_block_sizes() = |
| wrapped_cost_function_->parameter_block_sizes(); |
| |
| // Sanity-check the conditioners' dimensions. |
| CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size()); |
| for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) { |
| if (conditioners[i]) { |
| CHECK_EQ(1, conditioners[i]->num_residuals()); |
| CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size()); |
| CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]); |
| } |
| } |
| } |
| |
| ConditionedCostFunction::~ConditionedCostFunction() { |
| if (ownership_ == TAKE_OWNERSHIP) { |
| STLDeleteUniqueContainerPointers(conditioners_.begin(), |
| conditioners_.end()); |
| } else { |
| wrapped_cost_function_.release(); |
| } |
| } |
| |
| bool ConditionedCostFunction::Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const { |
| bool success = |
| wrapped_cost_function_->Evaluate(parameters, residuals, jacobians); |
| if (!success) { |
| return false; |
| } |
| |
| for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) { |
| // On output, we want to have |
| // residuals[r] = conditioners[r](wrapped_residuals[r]) |
| // For parameter block i, column c, |
| // jacobians[i][r*parameter_block_size_[i] + c] = |
| // = d residual[r] / d parameters[i][c] |
| // = conditioners[r]'(wrapped_residuals[r]) * |
| // d wrapped_residuals[r] / d parameters[i][c] |
| if (conditioners_[r]) { |
| double conditioner_derivative; |
| double* conditioner_derivative_pointer = &conditioner_derivative; |
| double** conditioner_derivative_pointer2 = |
| &conditioner_derivative_pointer; |
| if (!jacobians) { |
| conditioner_derivative_pointer2 = nullptr; |
| } |
| |
| double unconditioned_residual = residuals[r]; |
| double* parameter_pointer = &unconditioned_residual; |
| success = conditioners_[r]->Evaluate( |
| ¶meter_pointer, &residuals[r], conditioner_derivative_pointer2); |
| if (!success) { |
| return false; |
| } |
| |
| if (jacobians) { |
| for (int i = 0; |
| i < wrapped_cost_function_->parameter_block_sizes().size(); |
| i++) { |
| if (jacobians[i]) { |
| int parameter_block_size = |
| wrapped_cost_function_->parameter_block_sizes()[i]; |
| VectorRef jacobian_row(jacobians[i] + r * parameter_block_size, |
| parameter_block_size, |
| 1); |
| jacobian_row *= conditioner_derivative; |
| } |
| } |
| } |
| } |
| } |
| return true; |
| } |
| |
| } // namespace ceres |