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Avoid broadcast in residual function #84

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Jun 19, 2024
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Avoid broadcast in residual function #84

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48 changes: 28 additions & 20 deletions src/BundleAdjustmentNLSFunctions.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,6 @@ function NLPModels.residual!(nls::BundleAdjustmentModel, x::AbstractVector, rx::
nls.pnts_indices,
nls.nobs,
nls.npnts,
nls.k,
nls.P1,
nls.pt2d,
)
return rx
Expand All @@ -129,8 +127,6 @@ function residuals!(
pnt_indices::Vector{Int},
nobs::Int,
npts::Int,
ks::AbstractVector,
Ps::AbstractVector,
pt2d::AbstractVector,
)
@simd for i = 1:nobs
Expand All @@ -140,10 +136,8 @@ function residuals!(
cam_range = (3 * npts + (cam_index - 1) * 9 + 1):(3 * npts + (cam_index - 1) * 9 + 9)
x = view(xs, pnt_range)
c = view(xs, cam_range)
k = view(ks, pnt_range)
P = view(Ps, pnt_range)
r = view(rxs, (2 * i - 1):(2 * i))
projection!(x, c, r, k, P)
projection!(x, c, r)
end
rxs .-= pt2d
return rxs
Expand All @@ -153,27 +147,41 @@ function projection!(
p3::AbstractVector,
r::AbstractVector,
t::AbstractVector,
k1,
k2,
k_1,
k_2,
f,
r2::AbstractVector,
k::AbstractVector,
P1::AbstractVector,
)
θ = norm(r)
k .= r ./ θ
cross!(P1, k, p3)
P1 .*= sin(θ)
P1 .+= cos(θ) .* p3 .+ (1 - cos(θ)) .* dot(k, p3) .* k .+ t
r2[1] = -P1[1] ./ P1[3]
r2[2] = -P1[2] ./ P1[3]
s = scaling_factor(r2, k1, k2)
#k .= r ./ θ
k1 = r[1] / θ
k2 = r[2] / θ
k3 = r[3] / θ

#cross!(P1, k, p3)
P1_1 = k2 * p3[3] - k3 * p3[2]
P1_2 = k3 * p3[1] - k1 * p3[3]
P1_3 = k1 * p3[2] - k2 * p3[1]

# P1 .*= sin(θ)
P1_1 *= sin(θ)
P1_2 *= sin(θ)
P1_3 *= sin(θ)

# P1 .+= cos(θ) .* p3 .+ (1 - cos(θ)) .* dot(k, p3) .* k .+ t
kp3 = p3[1] * r[1] / θ + p3[2] * r[2] / θ + p3[3] * r[3] / θ # dot(k, p3)
P1_1 += cos(θ) * p3[1] + (1 - cos(θ)) * kp3 * k1 + t[1]
P1_2 += cos(θ) * p3[2] + (1 - cos(θ)) * kp3 * k2 + t[2]
P1_3 += cos(θ) * p3[3] + (1 - cos(θ)) * kp3 * k3 + t[3]

r2[1] = -P1_1 / P1_3
r2[2] = -P1_2 / P1_3
s = scaling_factor(r2, k_1, k_2)
r2 .*= f * s
return r2
end

projection!(x, c, r2, k, P1) =
projection!(x, view(c, 1:3), view(c, 4:6), c[7], c[8], c[9], r2, k, P1)
projection!(x, c, r2) = projection!(x, view(c, 1:3), view(c, 4:6), c[7], c[8], c[9], r2)

function cross!(c::AbstractVector, a::AbstractVector, b::AbstractVector)
if !(length(a) == length(b) == length(c) == 3)
Expand Down