Searched refs:residuals (Results 1 - 25 of 71) sorted by relevance

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/external/ceres-solver/internal/ceres/
H A Dresidual_block_utils.h57 double* residuals,
60 // Check if any of the arrays cost, residuals or jacobians contains an
65 double* residuals,
69 // value of the parameters, residuals and jacobians if present.
74 double* residuals,
H A Dnumeric_diff_test_utils.cc47 double* residuals) const {
48 residuals[0] = residuals[1] = residuals[2] = 0;
50 residuals[0] += x1[i] * x2[i];
51 residuals[2] += x2[i] * x2[i];
53 residuals[1] = residuals[0] * residuals[0];
68 double residuals[ local
138 double residuals[2]; local
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H A Dresidual_block_utils_test.cc61 double residuals; local
67 &residuals,
73 // valid residuals and jacobians.
77 double* residuals,
79 residuals[0] = 1;
92 double* residuals,
94 // Forget to update the residuals.
95 // residuals[0] = 1;
106 double* residuals,
108 residuals[
76 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
91 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
105 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
119 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
132 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
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H A Dnumeric_diff_test_utils.h46 bool operator()(const double* x1, const double* x2, double* residuals) const;
55 double* residuals,
57 return functor_(parameters[0], parameters[1], residuals);
71 bool operator()(const double* x1, const double* x2, double* residuals) const;
80 double* residuals,
82 return functor_(parameters[0], parameters[1], residuals);
54 Evaluate(double const* const* parameters, double* residuals, double** ) const argument
79 Evaluate(double const* const* parameters, double* residuals, double** ) const argument
H A Dresidual_block_test.cc56 double* residuals,
59 residuals[i] = i;
112 double residuals[3]; local
113 residual_block.Evaluate(true, &cost, residuals, NULL, scratch);
115 EXPECT_EQ(0.0, residuals[0]);
116 EXPECT_EQ(1.0, residuals[1]);
117 EXPECT_EQ(2.0, residuals[2]);
121 VectorRef(residuals, 3).setConstant(0.0);
137 residual_block.Evaluate(true, &cost, residuals, jacobian_ptrs, scratch);
139 EXPECT_EQ(0.0, residuals[
55 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
170 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
251 double residuals[3]; local
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H A Dcorrector.h68 // residuals *= sqrt(rho[1]) / (1 - alpha)
69 void CorrectResiduals(int num_rows, double* residuals);
72 // sqrt(rho[1]) * alpha / sq_norm * residuals residuals' * jacobian.
79 double* residuals,
H A Dcorrector_test.cc59 double residuals = sqrt(3.0); local
61 double sq_norm = residuals * residuals;
72 residuals * sqrt(kRho[1]) / (1 - kAlpha);
79 c.CorrectJacobian(1.0, 1.0, &residuals, &jacobian);
80 c.CorrectResiduals(1.0, &residuals);
82 ASSERT_NEAR(residuals, kExpectedResidual, 1e-6);
87 double residuals = 0.0; local
89 double sq_norm = residuals * residuals;
115 double residuals = sqrt(3.0); local
146 double residuals[3]; local
214 double residuals[3]; local
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H A Dcorrector.cc112 void Corrector::CorrectResiduals(const int num_rows, double* residuals) { argument
113 DCHECK(residuals != NULL);
115 VectorRef(residuals, num_rows) *= residual_scaling_;
120 double* residuals,
122 DCHECK(residuals != NULL);
146 r_transpose_j += jacobian[r * num_cols + c] * residuals[r];
152 alpha_sq_norm_ * residuals[r] * r_transpose_j);
118 CorrectJacobian(const int num_rows, const int num_cols, double* residuals, double* jacobian) argument
H A Dautodiff_cost_function_test.cc73 double residuals = 0.0; local
75 cost_function->Evaluate(parameters, &residuals, NULL);
76 EXPECT_EQ(10.0, residuals);
77 cost_function->Evaluate(parameters, &residuals, jacobians);
125 double residuals = 0.0; local
127 cost_function->Evaluate(parameters, &residuals, NULL);
128 EXPECT_EQ(45.0, residuals);
130 cost_function->Evaluate(parameters, &residuals, jacobians);
131 EXPECT_EQ(residuals, 45.0);
H A Dcost_function_to_functor_test.cc63 scoped_array<double> residuals(new double[num_residuals]);
87 residuals.get(), NULL));
91 EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
97 residuals.get(),
103 EXPECT_NEAR(residuals[i], actual_residuals[i], kTolerance)
117 bool operator()(const T* x1, T* residuals) const {
118 residuals[0] = x1[0] * x1[0];
119 residuals[1] = x1[1] * x1[1];
127 bool operator()(const T* x1, const T* x2, T* residuals) const {
128 residuals[
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H A Ddynamic_autodiff_cost_function_test.cc45 // Emits 21 residuals:
46 // A: i - parameters[0][i], for i in [0,10) -- this is 10 residuals
52 bool operator()(T const* const* parameters, T* residuals) const {
56 residuals[r++] = T(i) - params0[i];
57 residuals[r++] = params0[i] - T(i);
69 residuals[r++] = c_residual;
84 vector<double> residuals(21, -100000);
89 residuals.data(),
92 EXPECT_EQ(1.0 * r, residuals.at(r * 2));
93 EXPECT_EQ(-1.0 * r, residuals
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H A Ddynamic_numeric_diff_cost_function_test.cc46 // Emits 21 residuals:
47 // A: i - parameters[0][i], for i in [0,10) -- this is 10 residuals
52 bool operator()(double const* const* parameters, double* residuals) const {
56 residuals[r++] = i - params0[i];
57 residuals[r++] = params0[i] - i;
69 residuals[r++] = c_residual;
84 vector<double> residuals(21, -100000);
89 residuals.data(),
92 EXPECT_EQ(1.0 * r, residuals.at(r * 2));
93 EXPECT_EQ(-1.0 * r, residuals
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H A Dresidual_block_utils.cc49 double* residuals,
55 InvalidateArray(num_residuals, residuals);
67 double* residuals,
70 CHECK_NOTNULL(residuals);
77 "Residual Block size: %d parameter blocks x %d residuals\n\n",
89 AppendArrayToString(num_residuals, residuals, &result);
118 double* residuals,
123 if (!IsArrayValid(num_residuals, residuals)) {
47 InvalidateEvaluation(const ResidualBlock& block, double* cost, double* residuals, double** jacobians) argument
64 EvaluationToString(const ResidualBlock& block, double const* const* parameters, double* cost, double* residuals, double** jacobians) argument
115 IsEvaluationValid(const ResidualBlock& block, double const* const* parameters, double* cost, double* residuals, double** jacobians) argument
H A Dnormal_prior_test.cc71 Vector residuals(num_rows);
74 prior.Evaluate(&x, residuals.data(), &jacobian);
78 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
110 Vector residuals(num_rows);
113 prior.Evaluate(&x, residuals.data(), jacobians);
117 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
120 prior.Evaluate(&x, residuals.data(), NULL);
123 (residuals - A * (VectorRef(x, num_cols) - b)).squaredNorm();
H A Dconditioned_cost_function.cc44 // This cost function has the same dimensions (parameters, residuals) as
78 double* residuals,
80 bool success = wrapped_cost_function_->Evaluate(parameters, residuals,
88 // residuals[r] = conditioners[r](wrapped_residuals[r])
103 double unconditioned_residual = residuals[r];
106 &residuals[r],
77 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
H A Devaluator.h98 vector<double>* residuals,
133 // residuals, and jacobian in the corresponding arguments. Both residuals and
140 // double, and residuals is an array of doubles of size NumResiduals().
144 double* residuals,
153 double* residuals,
159 residuals,
186 // The number of residuals in the optimization problem.
151 Evaluate(const double* state, double* cost, double* residuals, double* gradient, SparseMatrix* jacobian) argument
H A Devaluator_test_utils.h42 const double residuals[50]; member in struct:ceres::internal::ExpectedEvaluation
H A Dresidual_block.cc69 double* residuals,
76 // residuals taking more than 8 parameter block arguments are rare.
97 // If the caller didn't request residuals, use the scratch space for them.
98 bool outputting_residuals = (residuals != NULL);
100 residuals = scratch;
108 InvalidateEvaluation(*this, cost, residuals, eval_jacobians);
110 if (!cost_function_->Evaluate(parameters.get(), residuals, eval_jacobians)) {
117 residuals,
128 residuals,
134 double squared_norm = VectorRef(residuals, num_residual
67 Evaluate(const bool apply_loss_function, double* cost, double* residuals, double** jacobians, double* scratch) const argument
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H A Dnormal_prior.cc52 double* residuals,
55 VectorRef r(residuals, num_residuals());
51 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
/external/ceres-solver/include/ceres/
H A Dnumeric_diff_functor.h44 // double* residuals);
78 // T* residuals) const {
144 bool operator()(const double* x0, double* residuals) const {
145 return functor_(x0, residuals);
150 double* residuals) const {
151 return functor_(x0, x1, residuals);
157 double* residuals) const {
158 return functor_(x0, x1, x2, residuals);
165 double* residuals) const {
166 return functor_(x0, x1, x2, x3, residuals);
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H A Ddynamic_numeric_diff_cost_function.h45 // bool operator()(double const* const* parameters, double* residuals) const {
101 double* residuals,
112 const bool status = EvaluateCostFunctor(parameters, residuals);
139 residuals,
197 ResidualVector residuals(num_residuals);
198 if (!EvaluateCostFunctor(parameters, &residuals[0])) {
204 // 1. Store residuals for the forward part.
205 // 2. Subtract residuals for the backward (or 0) part.
207 parameter_jacobian.col(j).matrix() = residuals;
214 if (!EvaluateCostFunctor(parameters, &residuals[
100 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument
244 EvaluateCostFunctorImpl(const CostFunctor* functor, double const* const* parameters, double* residuals, const void* ) const argument
251 EvaluateCostFunctorImpl(const CostFunctor* functor, double const* const* parameters, double* residuals, const CostFunction* ) const argument
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H A Dnormal_prior.h67 double* residuals,
/external/ceres-solver/include/ceres/internal/
H A Dnumeric_diff.h57 double* residuals,
64 residuals);
72 double* residuals,
74 return functor->Evaluate(parameters, residuals, NULL);
136 ResidualVector residuals(NUM_RESIDUALS);
144 functor, parameters, residuals.data(), functor)) {
149 // 1. Store residuals for the forward part.
150 // 2. Subtract residuals for the backward (or 0) part.
152 parameter_jacobian.col(j) = residuals;
160 functor, parameters, residuals
55 EvaluateImpl(const CostFunctor* functor, double const* const* parameters, double* residuals, const void* ) argument
70 EvaluateImpl(const CostFunctor* functor, double const* const* parameters, double* residuals, const CostFunction* ) argument
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/external/ceres-solver/examples/
H A Dsnavely_reprojection_error.h60 T* residuals) const {
88 residuals[0] = predicted_x - T(observed_x);
89 residuals[1] = predicted_y - T(observed_y);
121 T* residuals) const {
151 residuals[0] = predicted_x - T(observed_x);
152 residuals[1] = predicted_y - T(observed_y);
H A Dhelloworld_analytic_diff.cc48 : public SizedCostFunction<1 /* number of residuals */,
54 double* residuals,
59 residuals[0] = 10 - x;
53 Evaluate(double const* const* parameters, double* residuals, double** jacobians) const argument

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