mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sergiu Deitsch
f90833f5fa
Currently, the logic for exporting symbols is rather complicated: when tests are enabled internal symbols are exported in addition to the public symbols. Such logic causes several problems. (1) Test binaries link against a Ceres build that is different from the final release since fewer optimizations are applied if more symbols are exported. (2) Also, some toolchains hide symbols by default breaking the existing logic eventually causing linker errors. Since internal symbols are not intended to be used outside of the project, we can compile them into object files and use exactly the same binary code both for the final build and the tests without relying on conditionals. By default, all symbols are now hidden unless annotated as public. Internal symbols are explicitly marked as not being exported in case users chose not to hide symbols by default. Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
96 lines
4.1 KiB
C++
96 lines
4.1 KiB
C++
// 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: sameeragarwal@google.com (Sameer Agarwal)
|
|
//
|
|
// Class definition for the object that is responsible for applying a
|
|
// second order correction to the Gauss-Newton based on the ideas in
|
|
// BANS by Triggs et al.
|
|
|
|
#ifndef CERES_INTERNAL_CORRECTOR_H_
|
|
#define CERES_INTERNAL_CORRECTOR_H_
|
|
|
|
#include "ceres/internal/disable_warnings.h"
|
|
#include "ceres/internal/export.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
// Corrector is responsible for applying the second order correction
|
|
// to the residual and jacobian of a least squares problem based on a
|
|
// radial robust loss.
|
|
//
|
|
// The key idea here is to look at the expressions for the robustified
|
|
// gauss newton approximation and then take its square root to get the
|
|
// corresponding corrections to the residual and jacobian. For the
|
|
// full expressions see Eq. 10 and 11 in BANS by Triggs et al.
|
|
class CERES_NO_EXPORT Corrector {
|
|
public:
|
|
// The constructor takes the squared norm, the value, the first and
|
|
// second derivatives of the LossFunction. It precalculates some of
|
|
// the constants that are needed to apply the correction. The
|
|
// correction constant alpha is constrained to be smaller than 1, if
|
|
// it becomes larger than 1, then it will reverse the sign of the
|
|
// residual and the correction. If alpha is equal to 1 will result
|
|
// in a divide by zero error. Thus we constrain alpha to be upper
|
|
// bounded by 1 - epsilon_.
|
|
//
|
|
// rho[1] needs to be positive. The constructor will crash if this
|
|
// condition is not met.
|
|
//
|
|
// In practical use CorrectJacobian should always be called before
|
|
// CorrectResidual, because the jacobian correction depends on the
|
|
// value of the uncorrected residual values.
|
|
explicit Corrector(double sq_norm, const double rho[3]);
|
|
|
|
// residuals *= sqrt(rho[1]) / (1 - alpha)
|
|
void CorrectResiduals(int num_rows, double* residuals);
|
|
|
|
// jacobian = sqrt(rho[1]) * jacobian -
|
|
// sqrt(rho[1]) * alpha / sq_norm * residuals residuals' * jacobian.
|
|
//
|
|
// The method assumes that the jacobian has row-major storage. It is
|
|
// the caller's responsibility to ensure that the pointer to
|
|
// jacobian is not null.
|
|
void CorrectJacobian(int num_rows,
|
|
int num_cols,
|
|
double* residuals,
|
|
double* jacobian);
|
|
|
|
private:
|
|
double sqrt_rho1_;
|
|
double residual_scaling_;
|
|
double alpha_sq_norm_;
|
|
};
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#include "ceres/internal/reenable_warnings.h"
|
|
|
|
#endif // CERES_INTERNAL_CORRECTOR_H_
|