Will the parameters be strictly constrained inside their [lower, upper] bounds if provided?

[Chi Zhang]

Hi,

I'm using Ceres on a bundle adjustment problem, in which I have allowed the camera positions to perturb only within a small radius around their initial values using SetParameterLowerBound and SetParameterUpperBound.

However for different scales of the radius, I always found some optimized parameters had gone slightly beyond the allowed values. The amount of the ''overflows'' w.r.t. the [lower, upper] bounds seem proportional to the scale of its radius (i.e. 0.5 * (upper - lower)).

What mechanism does Ceres use to constrain its parameters inside their [lower, upper] bounds? Will the parameters lie strictly inside [lower, upper] after optimization? Or would this be caused by potential bugs in my code?

Best,

Chi

[Sameer Agarwal]

Chi,
The optimized values should always lie in the interval. Anything else is a bug.
Sameer

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[Chi Zhang]

Got it. Thank you!

Chi