Lines Matching refs:then
49 If \texttt{jacobians} is \texttt{NULL}, then no derivatives are returned; this is the case when computing cost only. If \texttt{jacobians[i]} is \texttt{NULL}, then the Jacobian matrix corresponding to the $i^{\textrm{th}}$ parameter block must not be returned, this is the case when the a parameter block is marked constant.
106 input parameters, then the third input parameter would come after \texttt{y}. The
110 Then given this class definition, the auto differentiated cost function for
267 Then, the robustified gradient and the Gauss-Newton Hessian are
272 where the terms involving the second derivatives of $f(x)$ have been ignored. Note that $H(x)$ is indefinite if $\rho''f(x)^\top f(x) + \frac{1}{2}\rho' < 0$. If this is not the case, then its possible to re-weight the residual and the Jacobian matrix such that the corresponding linear least squares problem for the robustified Gauss-Newton step.
279 Then, define the rescaled residual and Jacobian as
293 embedded in, then it is numerically and computationally more
304 tangent space at the point on the sphere point and then "move" to
349 user wishes to hold the first coordinate constant. Then, $\Delta x$ is a
450 keep control over the destruction of these objects, then they can
471 In fact you can set any number of parameter blocks to be constant, and Ceres is smart enough to figure out what part of the problem you have constructed depends on the parameter blocks that are free to change and only spends time solving it. So for example if you constructed a problem with a million parameter blocks and 2 million residual blocks, but then set all but one parameter blocks to be constant and say only 10 residual blocks depend on this one non-constant parameter block. Then the computational effort Ceres spends in solving this problem will be the same if you had defined a problem with one parameter block and 10 residual blocks.
476 keep control over the destruction of these objects, then they can
