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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/corrector.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/corrector.h | 90 |
1 files changed, 0 insertions, 90 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/corrector.h b/extern/libmv/third_party/ceres/internal/ceres/corrector.h deleted file mode 100644 index 2137221784e..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/corrector.h +++ /dev/null @@ -1,90 +0,0 @@ -// 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: 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_ - -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 squareroot 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 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 - -#endif // CERES_INTERNAL_CORRECTOR_H_ |