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-// 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"
-#include "ceres/small_blas.h"
-
-using Eigen::Dynamic;
-
-namespace ceres {
-namespace internal {
-
-ResidualBlock::ResidualBlock(const CostFunction* cost_function,
- const LossFunction* loss_function,
- const vector<ParameterBlock*>& parameter_blocks,
- int index)
- : cost_function_(cost_function),
- loss_function_(loss_function),
- parameter_blocks_(
- new ParameterBlock* [
- cost_function->parameter_block_sizes().size()]),
- index_(index) {
- std::copy(parameter_blocks.begin(),
- parameter_blocks.end(),
- parameter_blocks_.get());
-}
-
-bool ResidualBlock::Evaluate(const bool apply_loss_function,
- 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) {
- // jacobians[i] = global_jacobians[i] * global_to_local_jacobian.
- MatrixMatrixMultiply<Dynamic, Dynamic, Dynamic, Dynamic, 0>(
- global_jacobians[i],
- num_residuals,
- parameter_block->Size(),
- parameter_block->LocalParameterizationJacobian(),
- parameter_block->Size(),
- parameter_block->LocalSize(),
- jacobians[i], 0, 0, num_residuals, parameter_block->LocalSize());
- }
- }
- }
- }
-
- if (loss_function_ == NULL || !apply_loss_function) {
- *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
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