Sharing parameter blocks between residuals

[Yernar]

Hi, 

I am trying to share parameters block between multiple residuals. I've tried to do something like this:

std::vector<double *> parameters; 

// initialize parameters with some values
for(int i{1}; i < 10; ++i)
{

// I will have 9 residuals and want to share parameter blocks
  ceres::CostFunction *cost_function =
  new ceres::AutoDiffCostFunction<CostFunctorAutoSmoothing, 1, 2, 2, 2>(new       CostFunctorAutoSmoothing());  
  problem.AddResidualBlock(cost_function, nullptr, parameters[i], parameters[i-1],     parameters[i+1]);
}

So far I couldn't get sensible results, is my approach correct?

Thanks

[Sameer Agarwal]

yes this seems fine. I am assuming that the double* in your parameters vector point to size 2 parameter blocks and those parameter blocks do not overlap.

What do you mean by you can't get sensible results?

Sameer

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[Yernar]

Since I am receiving initial values from another source, I store a parameter block in double[2] then push into parameters, i.e.:

double par1[] = {init_x, init_y};

parameters.push_back(par1); 

I've also tried with all scalar parameters and getting different results.

[Sameer Agarwal]

On Tue, Jul 12, 2022 at 9:59 AM Yernar <n.ye...@gmail.com> wrote:

Since I am receiving initial values from another source, I store a parameter block in double[2] then push into parameters, i.e.:

double par1[] = {init_x, init_y};

parameters.push_back(par1); 

That sounds fine.

Is the optimizer reducing the error? have you checked to see that your costfunctor is computing the right residuals? does the initial cost make sense?

Sameer

 

I've also tried with all scalar parameters and getting different results.

On Tuesday, July 12, 2022 at 4:24:10 PM UTC+2 sameer...@google.com wrote:

yes this seems fine. I am assuming that the double* in your parameters vector point to size 2 parameter blocks and those parameter blocks do not overlap.

What do you mean by you can't get sensible results?

Sameer

On Tue, Jul 12, 2022 at 6:00 AM Yernar <n.ye...@gmail.com> wrote:

Hi, 

I am trying to share parameters block between multiple residuals. I've tried to do something like this:

std::vector<double *> parameters; 

// initialize parameters with some values
for(int i{1}; i < 10; ++i)
{

// I will have 9 residuals and want to share parameter blocks
  ceres::CostFunction *cost_function =
  new ceres::AutoDiffCostFunction<CostFunctorAutoSmoothing, 1, 2, 2, 2>(new       CostFunctorAutoSmoothing());  
  problem.AddResidualBlock(cost_function, nullptr, parameters[i], parameters[i-1],     parameters[i+1]);
}

So far I couldn't get sensible results, is my approach correct?

Thanks

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[Yernar]

Seems to be giving working now, I was returning wrong values for the answer.