[ceres-solver] AddResidualBlock after RemoveParameterBlock

[Luis-Jorge Romeo]

Hi all,

I'm trying to implement a dynamic, incremental, BA problem with 3D points (specifically blob centers).

I use a function to add a new parameter block when needed:

bool BlobCloudOptimizer::AddBlobAndMeasurement( Point2d z, 

Point3d p,

CoordinateTransformation3D T_C0_Ck, 

MonoCalibration *Calib)

{

int nBlobs = problem.NumParameterBlocks();

bool graphics = true;

vector<double*> parameterBlocks;

problem.GetParameterBlocks(&parameterBlocks);

parameters[3*parameterBlocks.size() + 0] = p.x;

parameters[3*parameterBlocks.size() + 1] = p.y;

parameters[3*parameterBlocks.size() + 2] = p.z;

ceres::NumericDiffCostFunction<BlobImageResidual, ceres::CENTRAL, 2, 3>* cost_function =

new ceres::NumericDiffCostFunction<BlobImageResidual, ceres::CENTRAL, 2, 3>(new BlobImageResidual(z, T_C0_Ck, Calib));

numBlocks++;

ceres::LossFunction* loss_function = NULL;

if (HuberParam >= 0)

loss_function = new ceres::HuberLoss(HuberParam);

problem.AddParameterBlock(parameters + 3*parameterBlocks.size(), 3, NULL); 

problem.AddResidualBlock(cost_function, loss_function, parameters + 3*parameterBlocks.size());

RES_TimesMeasured.push_back(1);

RES_TimesPredicted.push_back(1);

RES_LastIterationState.push_back(3);

RES_Life.push_back(1);

nBlobs = problem.NumParameterBlocks();

return true;

}

As expected nBlobs increases when I add a new Parameter block, unless I have deleted a parameter block before!!

bool BlobCloudOptimizer::DeleteBlob(int pointIndex,

vector<double*> *parameterBlocks)

{

if (parameterBlocks == 0)

problem.GetParameterBlocks(parameterBlocks);

int nBlobs = problem.NumParameterBlocks();

problem.RemoveParameterBlock(parameterBlocks->at(pointIndex));

nBlobs = problem.NumParameterBlocks();

RES_TimesPredicted.erase(RES_TimesPredicted.begin() + pointIndex);

RES_TimesMeasured.erase(RES_TimesMeasured.begin() + pointIndex);

RES_Life.erase(RES_Life.begin() + pointIndex);

RES_LastIterationState.erase(RES_LastIterationState.begin() + pointIndex);

return true;

}

In this case, nBlobs is always decremented as expected, but after the first execution of this function, BlobCloudOptimizer::AddBlobAndMeasurement stops working.

I'm using ceres 1.10.0 in Visual Studio 2010, my target is x64 . My residual function looks like this:

class BlobImageResidual

{

public:

BlobImageResidual(Point2d z, CoordinateTransformation3D T_C0_Ck, MonoCalibration *Calib)

: z(z), T_C0_Ck(T_C0_Ck), Calib(Calib)

{}

bool operator() (const double * const parameters, double* residuals) const 

{

vector<Point3d> p_vec;

Point3d pW(parameters[0], parameters[1], parameters[2]);

p_vec.push_back(pW);

vector<Point2d> h_vec = Projection::project(T_C0_Ck, Calib, p_vec);

Point2d dif = z - h_vec[0];

residuals[0] = dif.x;

residuals[1] = dif.y;

return true;

}

Point2d z;

CoordinateTransformation3D T_C0_Ck;

MonoCalibration *Calib;

};

Any clue of what's going on?

Thanks in advance. Regards,

Jorge Romeo

[Sameer Agarwal]

Hi Jorge,
Sorry for the delay in replying.  What do you mean by BlobCloudOptimizer::AddBlobAndMeasurement stops working?

Sameer

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[Luis-Jorge Romeo]

Hi Sameer, thanks for the reply.

Debugging my algorithm, I realised that I was trying to add a parameter block with a memory address already in use. Since my app is Windows native, I have stdout disabled so I coudn't see the corresponding ceres' error message. Should have done this before posting. My fault. 

Thanks for your time anyway.

Jorge

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[Sameer Agarwal]

No worries, happy to help.

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