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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: 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
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