82 lines
3.3 KiB
C++
82 lines
3.3 KiB
C++
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// 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 "ceres/local_parameterization.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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parameterization_(
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new IdentityParameterization(function_->NumParameters())),
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scratch_(new double[function_->NumParameters()]) {
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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_EQ(function_->NumParameters(), parameterization_->GlobalSize());
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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::NumLocalParameters() const {
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return parameterization_->LocalSize();
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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 == NULL) {
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return function_->Evaluate(parameters, cost, NULL);
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}
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return (function_->Evaluate(parameters, cost, scratch_.get()) &&
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parameterization_->MultiplyByJacobian(parameters,
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1,
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scratch_.get(),
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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 parameterization_->Plus(x, delta, x_plus_delta);
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}
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} // namespace ceres
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