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Diffstat (limited to 'internal/ceres/residual_block.cc')
| -rw-r--r-- | internal/ceres/residual_block.cc | 215 |
1 files changed, 215 insertions, 0 deletions
diff --git a/internal/ceres/residual_block.cc b/internal/ceres/residual_block.cc new file mode 100644 index 0000000..bdb88b1 --- /dev/null +++ b/internal/ceres/residual_block.cc @@ -0,0 +1,215 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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: keir@google.com (Keir Mierle) +// sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/residual_block.h" + +#include <algorithm> +#include <cstddef> +#include <vector> + +#include "ceres/corrector.h" +#include "ceres/parameter_block.h" +#include "ceres/residual_block_utils.h" +#include "ceres/cost_function.h" +#include "ceres/internal/eigen.h" +#include "ceres/internal/fixed_array.h" +#include "ceres/local_parameterization.h" +#include "ceres/loss_function.h" + +namespace ceres { +namespace internal { + +ResidualBlock::ResidualBlock(const CostFunction* cost_function, + const LossFunction* loss_function, + const vector<ParameterBlock*>& parameter_blocks) + : cost_function_(cost_function), + loss_function_(loss_function), + parameter_blocks_( + new ParameterBlock* [ + cost_function->parameter_block_sizes().size()]) { + std::copy(parameter_blocks.begin(), + parameter_blocks.end(), + parameter_blocks_.get()); +} + +bool ResidualBlock::Evaluate(double* cost, + double* residuals, + double** jacobians, + double* scratch) const { + const int num_parameter_blocks = NumParameterBlocks(); + const int num_residuals = cost_function_->num_residuals(); + + // Collect the parameters from their blocks. This will rarely allocate, since + // residuals taking more than 8 parameter block arguments are rare. + FixedArray<const double*, 8> parameters(num_parameter_blocks); + for (int i = 0; i < num_parameter_blocks; ++i) { + parameters[i] = parameter_blocks_[i]->state(); + } + + // Put pointers into the scratch space into global_jacobians as appropriate. + FixedArray<double*, 8> global_jacobians(num_parameter_blocks); + if (jacobians != NULL) { + for (int i = 0; i < num_parameter_blocks; ++i) { + const ParameterBlock* parameter_block = parameter_blocks_[i]; + if (jacobians[i] != NULL && + parameter_block->LocalParameterizationJacobian() != NULL) { + global_jacobians[i] = scratch; + scratch += num_residuals * parameter_block->Size(); + } else { + global_jacobians[i] = jacobians[i]; + } + } + } + + // If the caller didn't request residuals, use the scratch space for them. + bool outputting_residuals = (residuals != NULL); + if (!outputting_residuals) { + residuals = scratch; + } + + // Invalidate the evaluation buffers so that we can check them after + // the CostFunction::Evaluate call, to see if all the return values + // that were required were written to and that they are finite. + double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL; + + InvalidateEvaluation(*this, cost, residuals, eval_jacobians); + + if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) { + return false; + } + + if (!IsEvaluationValid(*this, + parameters.get(), + cost, + residuals, + eval_jacobians)) { + string message = + "\n\n" + "Error in evaluating the ResidualBlock.\n\n" + "There are two possible reasons. Either the CostFunction did not evaluate and fill all \n" // NOLINT + "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT + "generated during the or jacobian computation. \n\n" + + EvaluationToString(*this, + parameters.get(), + cost, + residuals, + eval_jacobians); + LOG(WARNING) << message; + return false; + } + + double squared_norm = VectorRef(residuals, num_residuals).squaredNorm(); + + // Update the jacobians with the local parameterizations. + if (jacobians != NULL) { + for (int i = 0; i < num_parameter_blocks; ++i) { + if (jacobians[i] != NULL) { + const ParameterBlock* parameter_block = parameter_blocks_[i]; + + // Apply local reparameterization to the jacobians. + if (parameter_block->LocalParameterizationJacobian() != NULL) { + ConstMatrixRef local_to_global( + parameter_block->LocalParameterizationJacobian(), + parameter_block->Size(), + parameter_block->LocalSize()); + MatrixRef global_jacobian(global_jacobians[i], + num_residuals, + parameter_block->Size()); + MatrixRef local_jacobian(jacobians[i], + num_residuals, + parameter_block->LocalSize()); + local_jacobian.noalias() = global_jacobian * local_to_global; + } + } + } + } + + if (loss_function_ == NULL) { + *cost = 0.5 * squared_norm; + return true; + } + + double rho[3]; + loss_function_->Evaluate(squared_norm, rho); + *cost = 0.5 * rho[0]; + + // No jacobians and not outputting residuals? All done. Doing an early exit + // here avoids constructing the "Corrector" object below in a common case. + if (jacobians == NULL && !outputting_residuals) { + return true; + } + + // Correct for the effects of the loss function. The jacobians need to be + // corrected before the residuals, since they use the uncorrected residuals. + Corrector correct(squared_norm, rho); + if (jacobians != NULL) { + for (int i = 0; i < num_parameter_blocks; ++i) { + if (jacobians[i] != NULL) { + const ParameterBlock* parameter_block = parameter_blocks_[i]; + + // Correct the jacobians for the loss function. + correct.CorrectJacobian(num_residuals, + parameter_block->LocalSize(), + residuals, + jacobians[i]); + } + } + } + + // Correct the residuals with the loss function. + if (outputting_residuals) { + correct.CorrectResiduals(num_residuals, residuals); + } + return true; +} + +int ResidualBlock::NumScratchDoublesForEvaluate() const { + // Compute the amount of scratch space needed to store the full-sized + // jacobians. For parameters that have no local parameterization no storage + // is needed and the passed-in jacobian array is used directly. Also include + // space to store the residuals, which is needed for cost-only evaluations. + // This is slightly pessimistic, since both won't be needed all the time, but + // the amount of excess should not cause problems for the caller. + int num_parameters = NumParameterBlocks(); + int scratch_doubles = 1; + for (int i = 0; i < num_parameters; ++i) { + const ParameterBlock* parameter_block = parameter_blocks_[i]; + if (!parameter_block->IsConstant() && + parameter_block->LocalParameterizationJacobian() != NULL) { + scratch_doubles += parameter_block->Size(); + } + } + scratch_doubles *= NumResiduals(); + return scratch_doubles; +} + +} // namespace internal +} // namespace ceres |