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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: wjr (at) google.com (William Rucklidge)
     30 //
     31 // This file contains the implementation of the conditioned cost function.
     32 
     33 #include "ceres/conditioned_cost_function.h"
     34 
     35 #include <cstddef>
     36 
     37 #include "ceres/internal/eigen.h"
     38 #include "ceres/stl_util.h"
     39 #include "ceres/types.h"
     40 #include "glog/logging.h"
     41 
     42 namespace ceres {
     43 
     44 // This cost function has the same dimensions (parameters, residuals) as
     45 // the one it's wrapping.
     46 ConditionedCostFunction::ConditionedCostFunction(
     47     CostFunction* wrapped_cost_function,
     48     const vector<CostFunction*>& conditioners,
     49     Ownership ownership)
     50     : wrapped_cost_function_(wrapped_cost_function),
     51       conditioners_(conditioners),
     52       ownership_(ownership) {
     53   // Set up our dimensions.
     54   set_num_residuals(wrapped_cost_function_->num_residuals());
     55   *mutable_parameter_block_sizes() =
     56       wrapped_cost_function_->parameter_block_sizes();
     57 
     58   // Sanity-check the conditioners' dimensions.
     59   CHECK_EQ(wrapped_cost_function_->num_residuals(), conditioners_.size());
     60   for (int i = 0; i < wrapped_cost_function_->num_residuals(); i++) {
     61     if (conditioners[i]) {
     62       CHECK_EQ(1, conditioners[i]->num_residuals());
     63       CHECK_EQ(1, conditioners[i]->parameter_block_sizes().size());
     64       CHECK_EQ(1, conditioners[i]->parameter_block_sizes()[0]);
     65     }
     66   }
     67 }
     68 
     69 ConditionedCostFunction::~ConditionedCostFunction() {
     70   if (ownership_ == TAKE_OWNERSHIP) {
     71     STLDeleteElements(&conditioners_);
     72   } else {
     73     wrapped_cost_function_.release();
     74   }
     75 }
     76 
     77 bool ConditionedCostFunction::Evaluate(double const* const* parameters,
     78                                        double* residuals,
     79                                        double** jacobians) const {
     80   bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
     81                                                   jacobians);
     82   if (!success) {
     83     return false;
     84   }
     85 
     86   for (int r = 0; r < wrapped_cost_function_->num_residuals(); r++) {
     87     // On output, we want to have
     88     // residuals[r] = conditioners[r](wrapped_residuals[r])
     89     // For parameter block i, column c,
     90     // jacobians[i][r*parameter_block_size_[i] + c] =
     91     //   = d residual[r] / d parameters[i][c]
     92     //   = conditioners[r]'(wrapped_residuals[r]) *
     93     //       d wrapped_residuals[r] / d parameters[i][c]
     94     if (conditioners_[r]) {
     95       double conditioner_derivative;
     96       double* conditioner_derivative_pointer = &conditioner_derivative;
     97       double** conditioner_derivative_pointer2 =
     98           &conditioner_derivative_pointer;
     99       if (!jacobians) {
    100         conditioner_derivative_pointer2 = NULL;
    101       }
    102 
    103       double unconditioned_residual = residuals[r];
    104       double* parameter_pointer = &unconditioned_residual;
    105       success = conditioners_[r]->Evaluate(&parameter_pointer,
    106                                            &residuals[r],
    107                                            conditioner_derivative_pointer2);
    108       if (!success) {
    109         return false;
    110       }
    111 
    112       if (jacobians) {
    113         for (int i = 0;
    114              i < wrapped_cost_function_->parameter_block_sizes().size();
    115              i++) {
    116           if (jacobians[i]) {
    117             int parameter_block_size =
    118                 wrapped_cost_function_->parameter_block_sizes()[i];
    119             VectorRef jacobian_row(jacobians[i] + r * parameter_block_size,
    120                                    parameter_block_size, 1);
    121             jacobian_row *= conditioner_derivative;
    122           }
    123         }
    124       }
    125     }
    126   }
    127   return true;
    128 }
    129 
    130 }  // namespace ceres
    131