internal/ceres/conditioned_cost_function.cc

   1 // Ceres Solver - A fast non-linear least squares minimizer
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  29 // Author: wjr@google.com (William Rucklidge)
  30 //
  31 // This file contains the implementation of the conditioned cost function.
  32
  33 #include "ceres/conditioned_cost_function.h"
  34
  35 #include <cstddef>
  36
  37 #include "ceres/internal/eigen.h"
  38 #include "ceres/stl_util.h"
  39 #include "ceres/types.h"
  40 #include "glog/logging.h"
  41
  42 namespace ceres {
  43
  44 // This cost function has the same dimensions (parameters, residuals) as
  45 // the one it's wrapping.
  46 ConditionedCostFunction::ConditionedCostFunction(
  47     CostFunction* wrapped_cost_function,
  48     const std::vector<CostFunction*>& conditioners,
  49     Ownership ownership)
  50     : wrapped_cost_function_(wrapped_cost_function),
  51       conditioners_(conditioners),
  52       ownership_(ownership) {
  53   // Set up our dimensions.
  54   set_num_residuals(wrapped_cost_function_->num_residuals());
  55   *mutable_parameter_block_sizes() =
  56       wrapped_cost_function_->parameter_block_sizes();
  57
  58   // Sanity-check the conditioners' dimensions.
  59   CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size());
  60   for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) {
  61     if (conditioners[i]) {
  62       CHECK_EQ(1, conditioners[i]->num_residuals());
  63       CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size());
  64       CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]);
  65     }
  66   }
  67 }
  68
  69 ConditionedCostFunction::~ConditionedCostFunction() {
  70   if (ownership_ == TAKE_OWNERSHIP) {
  71     STLDeleteElements(&conditioners_);
  72   } else {
  73     wrapped_cost_function_.release();
  74   }
  75 }
  76
  77 bool ConditionedCostFunction::Evaluate(double const* const* parameters,
  78                                        double* residuals,
  79                                        double** jacobians) const {
  80   bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
  81                                                   jacobians);
  82   if (!success) {
  83     return false;
  84   }
  85
  86   for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) {
  87     // On output, we want to have
  88     // residuals[r] = conditioners[r](wrapped_residuals[r])
  89     // For parameter block i, column c,
  90     // jacobians[i][r*parameter_block_size_[i] + c] =
  91     //   = d residual[r] / d parameters[i][c]
  92     //   = conditioners[r]'(wrapped_residuals[r]) *
  93     //       d wrapped_residuals[r] / d parameters[i][c]
  94     if (conditioners_[r]) {
  95       double conditioner_derivative;
  96       double* conditioner_derivative_pointer = &conditioner_derivative;
  97       double** conditioner_derivative_pointer2 =
  98           &conditioner_derivative_pointer;
  99       if (!jacobians) {
 100         conditioner_derivative_pointer2 = NULL;
 101       }
 102
 103       double unconditioned_residual = residuals[r];
 104       double* parameter_pointer = &unconditioned_residual;
 105       success = conditioners_[r]->Evaluate(&parameter_pointer,
 106                                            &residuals[r],
 107                                            conditioner_derivative_pointer2);
 108       if (!success) {
 109         return false;
 110       }
 111
 112       if (jacobians) {
 113         for (int i = 0;
 114              i < wrapped_cost_function_->parameter_block_sizes().size();
 115              i++) {
 116           if (jacobians[i]) {
 117             int parameter_block_size =
 118                 wrapped_cost_function_->parameter_block_sizes()[i];
 119             VectorRef jacobian_row(jacobians[i] + r * parameter_block_size,
 120                                    parameter_block_size, 1);
 121             jacobian_row *= conditioner_derivative;
 122           }
 123         }
 124       }
 125     }
 126   }
 127   return true;
 128 }
 129
 130 }  // namespace ceres