saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 16:40:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add LocalParameterization::MultiplyByJacobian.

Browse Source 
This is needed to efficiently support LocalParameterization objects
in GradientProblemSolver.

Change-Id: Ic7b715b8be694b099dc95d6707a67474297533e6
This commit is contained in:
Sameer Agarwal
2014-09-06 21:13:48 -07:00
parent d76da16f49
commit 89080ab153
4 changed files with 138 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/ceres/local_parameterization.h
+25 -2
View File
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// Copyright 2014 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
@@ -110,7 +110,7 @@ namespace ceres {
// Jacobian which is needed to compute the Jacobian of f w.r.t delta.
class CERES_EXPORT LocalParameterization {
public:
virtual ~LocalParameterization() {}
virtual ~LocalParameterization();
// Generalization of the addition operation,
//
@@ -122,8 +122,23 @@ class CERES_EXPORT LocalParameterization {
double* x_plus_delta) const = 0;
// The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
//
// jacobian is a row-major GlobalSize() x LocalSize() matrix.
virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0;
// local_matrix = global_matrix * jacobian
//
// global_matrix is a num_rows x GlobalSize row major matrix.
// local_matrix is a num_rows x LocalSize row major matrix.
// jacobian(x) is the matrix returned by ComputeJacobian at x.
//
// This is only used by GradientProblem. For most normal uses, it is
// okay to use the default implementation.
virtual bool MultiplyByJacobian(const double* x,
const int num_rows,
const double* global_matrix,
double* local_matrix) const;
// Size of x.
virtual int GlobalSize() const = 0;
@@ -143,6 +158,10 @@ class CERES_EXPORT IdentityParameterization : public LocalParameterization {
double* x_plus_delta) const;
virtual bool ComputeJacobian(const double* x,
double* jacobian) const;
virtual bool MultiplyByJacobian(const double* x,
const int num_cols,
const double* global_matrix,
double* local_matrix) const;
virtual int GlobalSize() const { return size_; }
virtual int LocalSize() const { return size_; }
@@ -161,6 +180,10 @@ class CERES_EXPORT SubsetParameterization : public LocalParameterization {
double* x_plus_delta) const;
virtual bool ComputeJacobian(const double* x,
double* jacobian) const;
virtual bool MultiplyByJacobian(const double* x,
const int num_cols,
const double* global_matrix,
double* local_matrix) const;
virtual int GlobalSize() const {
return static_cast<int>(constancy_mask_.size());
}