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author | Carlos Hernandez <chernand@google.com> | 2014-08-07 17:51:38 -0700 |
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committer | Carlos Hernandez <chernand@google.com> | 2014-08-11 20:38:34 +0000 |
commit | 79397c21138f54fcff6ec067b44b847f1f7e0e98 (patch) | |
tree | b2c33877af479b37f082fcbcaf50a24a49b69415 /include/ceres/internal/numeric_diff.h | |
parent | ad78e589f893a53da23bbdf41274d89dae656f54 (diff) | |
download | ceres-solver-74d2994a0aecffa33cbf3fb45e40c0a627131708.tar.gz |
Update ceres to the latest version in g3android-wear-5.0.0_r1android-cts-5.1_r9android-cts-5.1_r8android-cts-5.1_r7android-cts-5.1_r6android-cts-5.1_r5android-cts-5.1_r4android-cts-5.1_r3android-cts-5.1_r28android-cts-5.1_r27android-cts-5.1_r26android-cts-5.1_r25android-cts-5.1_r24android-cts-5.1_r23android-cts-5.1_r22android-cts-5.1_r21android-cts-5.1_r20android-cts-5.1_r2android-cts-5.1_r19android-cts-5.1_r18android-cts-5.1_r17android-cts-5.1_r16android-cts-5.1_r15android-cts-5.1_r14android-cts-5.1_r13android-cts-5.1_r10android-cts-5.1_r1android-cts-5.0_r9android-cts-5.0_r8android-cts-5.0_r7android-cts-5.0_r6android-cts-5.0_r5android-cts-5.0_r4android-cts-5.0_r3android-5.1.1_r9android-5.1.1_r8android-5.1.1_r7android-5.1.1_r6android-5.1.1_r5android-5.1.1_r4android-5.1.1_r38android-5.1.1_r37android-5.1.1_r36android-5.1.1_r35android-5.1.1_r34android-5.1.1_r33android-5.1.1_r30android-5.1.1_r3android-5.1.1_r29android-5.1.1_r28android-5.1.1_r26android-5.1.1_r25android-5.1.1_r24android-5.1.1_r23android-5.1.1_r22android-5.1.1_r20android-5.1.1_r2android-5.1.1_r19android-5.1.1_r18android-5.1.1_r17android-5.1.1_r16android-5.1.1_r15android-5.1.1_r14android-5.1.1_r13android-5.1.1_r12android-5.1.1_r10android-5.1.1_r1android-5.1.0_r5android-5.1.0_r4android-5.1.0_r3android-5.1.0_r1android-5.0.2_r3android-5.0.2_r1android-5.0.1_r1android-5.0.0_r7android-5.0.0_r6android-5.0.0_r5.1android-5.0.0_r5android-5.0.0_r4android-5.0.0_r3android-5.0.0_r2android-5.0.0_r1lollipop-wear-releaselollipop-releaselollipop-mr1-wfc-releaselollipop-mr1-releaselollipop-mr1-fi-releaselollipop-mr1-devlollipop-mr1-cts-releaselollipop-devlollipop-cts-release
Please pay special attention to the changes in Android.mk.
They are the only real changes I had to make.
Bug: 16953678
Change-Id: I44a644358e779aaff99a2ea822387fe49ac26888
Diffstat (limited to 'include/ceres/internal/numeric_diff.h')
-rw-r--r-- | include/ceres/internal/numeric_diff.h | 30 |
1 files changed, 18 insertions, 12 deletions
diff --git a/include/ceres/internal/numeric_diff.h b/include/ceres/internal/numeric_diff.h index 4058366..5048348 100644 --- a/include/ceres/internal/numeric_diff.h +++ b/include/ceres/internal/numeric_diff.h @@ -90,6 +90,7 @@ struct NumericDiff { const CostFunctor* functor, double const* residuals_at_eval_point, const double relative_step_size, + int num_residuals, double **parameters, double *jacobian) { using Eigen::Map; @@ -97,15 +98,21 @@ struct NumericDiff { using Eigen::RowMajor; using Eigen::ColMajor; + const int NUM_RESIDUALS = + (kNumResiduals != ceres::DYNAMIC ? kNumResiduals : num_residuals); + typedef Matrix<double, kNumResiduals, 1> ResidualVector; typedef Matrix<double, kParameterBlockSize, 1> ParameterVector; - typedef Matrix<double, kNumResiduals, kParameterBlockSize, + typedef Matrix<double, + kNumResiduals, + kParameterBlockSize, (kParameterBlockSize == 1 && - kNumResiduals > 1) ? ColMajor : RowMajor> JacobianMatrix; + kNumResiduals > 1) ? ColMajor : RowMajor> + JacobianMatrix; Map<JacobianMatrix> parameter_jacobian(jacobian, - kNumResiduals, + NUM_RESIDUALS, kParameterBlockSize); // Mutate 1 element at a time and then restore. @@ -125,16 +132,16 @@ struct NumericDiff { // For each parameter in the parameter block, use finite differences to // compute the derivative for that parameter. + + ResidualVector residuals(NUM_RESIDUALS); for (int j = 0; j < kParameterBlockSize; ++j) { const double delta = (step_size(j) == 0.0) ? fallback_step_size : step_size(j); x_plus_delta(j) = x(j) + delta; - double residuals[kNumResiduals]; // NOLINT - if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>( - functor, parameters, residuals, functor)) { + functor, parameters, residuals.data(), functor)) { return false; } @@ -142,8 +149,7 @@ struct NumericDiff { // 1. Store residuals for the forward part. // 2. Subtract residuals for the backward (or 0) part. // 3. Divide out the run. - parameter_jacobian.col(j) = - Map<const ResidualVector>(residuals, kNumResiduals); + parameter_jacobian.col(j) = residuals; double one_over_delta = 1.0 / delta; if (kMethod == CENTRAL) { @@ -151,17 +157,16 @@ struct NumericDiff { x_plus_delta(j) = x(j) - delta; if (!EvaluateImpl<CostFunctor, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>( - functor, parameters, residuals, functor)) { + functor, parameters, residuals.data(), functor)) { return false; } - parameter_jacobian.col(j) -= - Map<ResidualVector>(residuals, kNumResiduals, 1); + parameter_jacobian.col(j) -= residuals; one_over_delta /= 2; } else { // Forward difference only; reuse existing residuals evaluation. parameter_jacobian.col(j) -= - Map<const ResidualVector>(residuals_at_eval_point, kNumResiduals); + Map<const ResidualVector>(residuals_at_eval_point, NUM_RESIDUALS); } x_plus_delta(j) = x(j); // Restore x_plus_delta. @@ -186,6 +191,7 @@ struct NumericDiff<CostFunctor, kMethod, kNumResiduals, const CostFunctor* functor, double const* residuals_at_eval_point, const double relative_step_size, + const int num_residuals, double **parameters, double *jacobian) { LOG(FATAL) << "Control should never reach here."; |