mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
6a37fbf9b4
This brings it in line with other manifolds like SphereManifold and LineManifold, where the user has the choice to specify the size of the manifold at compile time or runtime. Most of the time the size is known at compile time so this will speed up the common case. Change-Id: I0c7ff8b7a9a64a81203eb11afc074874e208815a
105 lines
4.0 KiB
C++
105 lines
4.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/gradient_problem.h"
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#include <memory>
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#include "ceres/local_parameterization.h"
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#include "ceres/manifold_adapter.h"
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#include "glog/logging.h"
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namespace ceres {
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GradientProblem::GradientProblem(FirstOrderFunction* function)
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: function_(function),
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manifold_(std::make_unique<EuclideanManifold<DYNAMIC>>(
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function_->NumParameters())),
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scratch_(new double[function_->NumParameters()]) {
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CHECK(function != nullptr);
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}
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GradientProblem::GradientProblem(FirstOrderFunction* function,
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LocalParameterization* parameterization)
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: function_(function),
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parameterization_(parameterization),
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scratch_(new double[function_->NumParameters()]) {
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CHECK(function != nullptr);
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if (parameterization != nullptr) {
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manifold_ =
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std::make_unique<internal::ManifoldAdapter>(parameterization_.get());
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} else {
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manifold_ = std::make_unique<EuclideanManifold<DYNAMIC>>(
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function_->NumParameters());
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}
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CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
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}
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GradientProblem::GradientProblem(FirstOrderFunction* function,
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Manifold* manifold)
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: function_(function), scratch_(new double[function_->NumParameters()]) {
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CHECK(function != nullptr);
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if (manifold != nullptr) {
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manifold_.reset(manifold);
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} else {
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manifold_ = std::make_unique<EuclideanManifold<DYNAMIC>>(
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function_->NumParameters());
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}
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CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
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}
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int GradientProblem::NumParameters() const {
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return function_->NumParameters();
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}
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int GradientProblem::NumTangentParameters() const {
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return manifold_->TangentSize();
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}
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bool GradientProblem::Evaluate(const double* parameters,
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double* cost,
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double* gradient) const {
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if (gradient == nullptr) {
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return function_->Evaluate(parameters, cost, nullptr);
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}
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return (function_->Evaluate(parameters, cost, scratch_.get()) &&
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manifold_->RightMultiplyByPlusJacobian(
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parameters, 1, scratch_.get(), gradient));
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}
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bool GradientProblem::Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const {
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return manifold_->Plus(x, delta, x_plus_delta);
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}
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} // namespace ceres
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