10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: keir@google.com (Keir Mierle) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// sameeragarwal@google.com (Sameer Agarwal) 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/residual_block.h" 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <algorithm> 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <cstddef> 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/corrector.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/parameter_block.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/residual_block_utils.h" 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/cost_function.h" 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/fixed_array.h" 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/local_parameterization.h" 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/loss_function.h" 45399f7d09e0c45af54b77b4ab9508d6f23759b927Scott Ettinger#include "ceres/small_blas.h" 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingusing Eigen::Dynamic; 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongResidualBlock::ResidualBlock(const CostFunction* cost_function, 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const LossFunction* loss_function, 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const vector<ParameterBlock*>& parameter_blocks, 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling int index) 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong : cost_function_(cost_function), 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong loss_function_(loss_function), 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_blocks_( 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong new ParameterBlock* [ 601d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cost_function->parameter_block_sizes().size()]), 611d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling index_(index) { 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong std::copy(parameter_blocks.begin(), 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_blocks.end(), 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_blocks_.get()); 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 671d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingbool ResidualBlock::Evaluate(const bool apply_loss_function, 681d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling double* cost, 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians, 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* scratch) const { 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_parameter_blocks = NumParameterBlocks(); 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_residuals = cost_function_->num_residuals(); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Collect the parameters from their blocks. This will rarely allocate, since 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // residuals taking more than 8 parameter block arguments are rare. 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FixedArray<const double*, 8> parameters(num_parameter_blocks); 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameter_blocks; ++i) { 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters[i] = parameter_blocks_[i]->state(); 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Put pointers into the scratch space into global_jacobians as appropriate. 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FixedArray<double*, 8> global_jacobians(num_parameter_blocks); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians != NULL) { 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameter_blocks; ++i) { 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterBlock* parameter_block = parameter_blocks_[i]; 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians[i] != NULL && 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block->LocalParameterizationJacobian() != NULL) { 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong global_jacobians[i] = scratch; 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scratch += num_residuals * parameter_block->Size(); 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else { 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong global_jacobians[i] = jacobians[i]; 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // If the caller didn't request residuals, use the scratch space for them. 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bool outputting_residuals = (residuals != NULL); 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!outputting_residuals) { 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals = scratch; 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Invalidate the evaluation buffers so that we can check them after 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the CostFunction::Evaluate call, to see if all the return values 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // that were required were written to and that they are finite. 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** eval_jacobians = (jacobians != NULL) ? global_jacobians.get() : NULL; 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong InvalidateEvaluation(*this, cost, residuals, eval_jacobians); 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) { 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return false; 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!IsEvaluationValid(*this, 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.get(), 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost, 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals, 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong eval_jacobians)) { 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong string message = 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong "\n\n" 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong "Error in evaluating the ResidualBlock.\n\n" 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong "There are two possible reasons. Either the CostFunction did not evaluate and fill all \n" // NOLINT 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong "residual and jacobians that were requested or there was a non-finite value (nan/infinite)\n" // NOLINT 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong "generated during the or jacobian computation. \n\n" + 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong EvaluationToString(*this, 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters.get(), 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cost, 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals, 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong eval_jacobians); 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LOG(WARNING) << message; 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return false; 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double squared_norm = VectorRef(residuals, num_residuals).squaredNorm(); 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Update the jacobians with the local parameterizations. 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians != NULL) { 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameter_blocks; ++i) { 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians[i] != NULL) { 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterBlock* parameter_block = parameter_blocks_[i]; 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Apply local reparameterization to the jacobians. 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (parameter_block->LocalParameterizationJacobian() != NULL) { 1441d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // jacobians[i] = global_jacobians[i] * global_to_local_jacobian. 1451d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling MatrixMatrixMultiply<Dynamic, Dynamic, Dynamic, Dynamic, 0>( 1461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling global_jacobians[i], 1471d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling num_residuals, 1481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling parameter_block->Size(), 1490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block->LocalParameterizationJacobian(), 1500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block->Size(), 1511d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling parameter_block->LocalSize(), 1521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling jacobians[i], 0, 0, num_residuals, parameter_block->LocalSize()); 1530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1581d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling if (loss_function_ == NULL || !apply_loss_function) { 1590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *cost = 0.5 * squared_norm; 1600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 1610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double rho[3]; 1640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong loss_function_->Evaluate(squared_norm, rho); 1650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *cost = 0.5 * rho[0]; 1660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // No jacobians and not outputting residuals? All done. Doing an early exit 1680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // here avoids constructing the "Corrector" object below in a common case. 1690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians == NULL && !outputting_residuals) { 1700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 1710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Correct for the effects of the loss function. The jacobians need to be 1740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // corrected before the residuals, since they use the uncorrected residuals. 1750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong Corrector correct(squared_norm, rho); 1760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians != NULL) { 1770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameter_blocks; ++i) { 1780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (jacobians[i] != NULL) { 1790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterBlock* parameter_block = parameter_blocks_[i]; 1800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Correct the jacobians for the loss function. 1820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong correct.CorrectJacobian(num_residuals, 1830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block->LocalSize(), 1840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals, 1850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobians[i]); 1860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Correct the residuals with the loss function. 1910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (outputting_residuals) { 1920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong correct.CorrectResiduals(num_residuals, residuals); 1930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 1950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongint ResidualBlock::NumScratchDoublesForEvaluate() const { 1980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Compute the amount of scratch space needed to store the full-sized 1990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // jacobians. For parameters that have no local parameterization no storage 2000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // is needed and the passed-in jacobian array is used directly. Also include 2010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // space to store the residuals, which is needed for cost-only evaluations. 2020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // This is slightly pessimistic, since both won't be needed all the time, but 2030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the amount of excess should not cause problems for the caller. 2040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_parameters = NumParameterBlocks(); 2050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int scratch_doubles = 1; 2060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameters; ++i) { 2070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterBlock* parameter_block = parameter_blocks_[i]; 2080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!parameter_block->IsConstant() && 2090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameter_block->LocalParameterizationJacobian() != NULL) { 2100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scratch_doubles += parameter_block->Size(); 2110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 2120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 2130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scratch_doubles *= NumResiduals(); 2140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return scratch_doubles; 2150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 2160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 2180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 219