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
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/local_parameterization.h"
32
33 #include "ceres/internal/eigen.h"
34 #include "ceres/rotation.h"
35 #include "glog/logging.h"
36
37 namespace ceres {
38
IdentityParameterization(const int size)39 IdentityParameterization::IdentityParameterization(const int size)
40 : size_(size) {
41 CHECK_GT(size, 0);
42 }
43
Plus(const double * x,const double * delta,double * x_plus_delta) const44 bool IdentityParameterization::Plus(const double* x,
45 const double* delta,
46 double* x_plus_delta) const {
47 VectorRef(x_plus_delta, size_) =
48 ConstVectorRef(x, size_) + ConstVectorRef(delta, size_);
49 return true;
50 }
51
ComputeJacobian(const double * x,double * jacobian) const52 bool IdentityParameterization::ComputeJacobian(const double* x,
53 double* jacobian) const {
54 MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
55 return true;
56 }
57
SubsetParameterization(int size,const vector<int> & constant_parameters)58 SubsetParameterization::SubsetParameterization(
59 int size,
60 const vector<int>& constant_parameters)
61 : local_size_(size - constant_parameters.size()),
62 constancy_mask_(size, 0) {
63 CHECK_GT(constant_parameters.size(), 0)
64 << "The set of constant parameters should contain at least "
65 << "one element. If you do not wish to hold any parameters "
66 << "constant, then do not use a SubsetParameterization";
67
68 vector<int> constant = constant_parameters;
69 sort(constant.begin(), constant.end());
70 CHECK(unique(constant.begin(), constant.end()) == constant.end())
71 << "The set of constant parameters cannot contain duplicates";
72 CHECK_LT(constant_parameters.size(), size)
73 << "Number of parameters held constant should be less "
74 << "than the size of the parameter block. If you wish "
75 << "to hold the entire parameter block constant, then a "
76 << "efficient way is to directly mark it as constant "
77 << "instead of using a LocalParameterization to do so.";
78 CHECK_GE(*min_element(constant.begin(), constant.end()), 0);
79 CHECK_LT(*max_element(constant.begin(), constant.end()), size);
80
81 for (int i = 0; i < constant_parameters.size(); ++i) {
82 constancy_mask_[constant_parameters[i]] = 1;
83 }
84 }
85
Plus(const double * x,const double * delta,double * x_plus_delta) const86 bool SubsetParameterization::Plus(const double* x,
87 const double* delta,
88 double* x_plus_delta) const {
89 for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
90 if (constancy_mask_[i]) {
91 x_plus_delta[i] = x[i];
92 } else {
93 x_plus_delta[i] = x[i] + delta[j++];
94 }
95 }
96 return true;
97 }
98
ComputeJacobian(const double * x,double * jacobian) const99 bool SubsetParameterization::ComputeJacobian(const double* x,
100 double* jacobian) const {
101 MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
102 m.setZero();
103 for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
104 if (!constancy_mask_[i]) {
105 m(i, j++) = 1.0;
106 }
107 }
108 return true;
109 }
110
Plus(const double * x,const double * delta,double * x_plus_delta) const111 bool QuaternionParameterization::Plus(const double* x,
112 const double* delta,
113 double* x_plus_delta) const {
114 const double norm_delta =
115 sqrt(delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]);
116 if (norm_delta > 0.0) {
117 const double sin_delta_by_delta = (sin(norm_delta) / norm_delta);
118 double q_delta[4];
119 q_delta[0] = cos(norm_delta);
120 q_delta[1] = sin_delta_by_delta * delta[0];
121 q_delta[2] = sin_delta_by_delta * delta[1];
122 q_delta[3] = sin_delta_by_delta * delta[2];
123 QuaternionProduct(q_delta, x, x_plus_delta);
124 } else {
125 for (int i = 0; i < 4; ++i) {
126 x_plus_delta[i] = x[i];
127 }
128 }
129 return true;
130 }
131
ComputeJacobian(const double * x,double * jacobian) const132 bool QuaternionParameterization::ComputeJacobian(const double* x,
133 double* jacobian) const {
134 jacobian[0] = -x[1]; jacobian[1] = -x[2]; jacobian[2] = -x[3]; // NOLINT
135 jacobian[3] = x[0]; jacobian[4] = x[3]; jacobian[5] = -x[2]; // NOLINT
136 jacobian[6] = -x[3]; jacobian[7] = x[0]; jacobian[8] = x[1]; // NOLINT
137 jacobian[9] = x[2]; jacobian[10] = -x[1]; jacobian[11] = x[0]; // NOLINT
138 return true;
139 }
140
141 } // namespace ceres
142