206 lines
8.1 KiB
C++
206 lines
8.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: mierle@gmail.com (Keir Mierle)
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// sameeragarwal@google.com (Sameer Agarwal)
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// thadh@gmail.com (Thad Hughes)
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// tbennun@gmail.com (Tal Ben-Nun)
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//
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// This numeric diff implementation differs from the one found in
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// numeric_diff_cost_function.h by supporting numericdiff on cost
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// functions with variable numbers of parameters with variable
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// sizes. With the other implementation, all the sizes (both the
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// number of parameter blocks and the size of each block) must be
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// fixed at compile time.
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//
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// The functor API differs slightly from the API for fixed size
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// numeric diff; the expected interface for the cost functors is:
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//
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// struct MyCostFunctor {
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// bool operator()(double const* const* parameters, double* residuals) const {
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// // Use parameters[i] to access the i'th parameter block.
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// }
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// }
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//
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// Since the sizing of the parameters is done at runtime, you must
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// also specify the sizes after creating the
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// DynamicNumericDiffCostFunction. For example:
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//
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// DynamicAutoDiffCostFunction<MyCostFunctor, CENTRAL> cost_function(
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// new MyCostFunctor());
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// cost_function.AddParameterBlock(5);
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// cost_function.AddParameterBlock(10);
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// cost_function.SetNumResiduals(21);
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#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
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#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_
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#include <cmath>
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#include <numeric>
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#include <vector>
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#include "ceres/cost_function.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/numeric_diff.h"
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#include "ceres/numeric_diff_options.h"
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#include "glog/logging.h"
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namespace ceres {
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template <typename CostFunctor, NumericDiffMethodType method = CENTRAL>
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class DynamicNumericDiffCostFunction : public CostFunction {
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public:
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explicit DynamicNumericDiffCostFunction(
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const CostFunctor* functor,
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Ownership ownership = TAKE_OWNERSHIP,
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const NumericDiffOptions& options = NumericDiffOptions())
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: functor_(functor),
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ownership_(ownership),
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options_(options) {
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}
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// Deprecated. New users should avoid using this constructor. Instead, use the
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// constructor with NumericDiffOptions.
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DynamicNumericDiffCostFunction(
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const CostFunctor* functor,
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Ownership ownership,
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double relative_step_size)
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: functor_(functor),
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ownership_(ownership),
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options_() {
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LOG(WARNING) << "This constructor is deprecated and will be removed in "
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"a future version. Please use the NumericDiffOptions "
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"constructor instead.";
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options_.relative_step_size = relative_step_size;
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}
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virtual ~DynamicNumericDiffCostFunction() {
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if (ownership_ != TAKE_OWNERSHIP) {
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functor_.release();
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}
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}
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void AddParameterBlock(int size) {
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mutable_parameter_block_sizes()->push_back(size);
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}
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void SetNumResiduals(int num_residuals) {
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set_num_residuals(num_residuals);
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}
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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using internal::NumericDiff;
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CHECK_GT(num_residuals(), 0)
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<< "You must call DynamicNumericDiffCostFunction::SetNumResiduals() "
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<< "before DynamicNumericDiffCostFunction::Evaluate().";
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const std::vector<int32>& block_sizes = parameter_block_sizes();
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CHECK(!block_sizes.empty())
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<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
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<< "before DynamicNumericDiffCostFunction::Evaluate().";
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const bool status = EvaluateCostFunctor(parameters, residuals);
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if (jacobians == NULL || !status) {
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return status;
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}
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// Create local space for a copy of the parameters which will get mutated.
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int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0);
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std::vector<double> parameters_copy(parameters_size);
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std::vector<double*> parameters_references_copy(block_sizes.size());
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parameters_references_copy[0] = ¶meters_copy[0];
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for (int block = 1; block < block_sizes.size(); ++block) {
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parameters_references_copy[block] = parameters_references_copy[block - 1]
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+ block_sizes[block - 1];
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}
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// Copy the parameters into the local temp space.
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for (int block = 0; block < block_sizes.size(); ++block) {
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memcpy(parameters_references_copy[block],
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parameters[block],
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block_sizes[block] * sizeof(*parameters[block]));
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}
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for (int block = 0; block < block_sizes.size(); ++block) {
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if (jacobians[block] != NULL &&
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!NumericDiff<CostFunctor, method, DYNAMIC,
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DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
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DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
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DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock(
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functor_.get(),
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residuals,
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options_,
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this->num_residuals(),
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block,
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block_sizes[block],
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¶meters_references_copy[0],
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jacobians[block])) {
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return false;
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}
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}
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return true;
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}
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private:
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bool EvaluateCostFunctor(double const* const* parameters,
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double* residuals) const {
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return EvaluateCostFunctorImpl(functor_.get(),
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parameters,
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residuals,
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functor_.get());
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}
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// Helper templates to allow evaluation of a functor or a
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// CostFunction.
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bool EvaluateCostFunctorImpl(const CostFunctor* functor,
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double const* const* parameters,
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double* residuals,
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const void* /* NOT USED */) const {
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return (*functor)(parameters, residuals);
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}
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bool EvaluateCostFunctorImpl(const CostFunctor* functor,
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double const* const* parameters,
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double* residuals,
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const CostFunction* /* NOT USED */) const {
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return functor->Evaluate(parameters, residuals, NULL);
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}
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internal::scoped_ptr<const CostFunctor> functor_;
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Ownership ownership_;
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NumericDiffOptions options_;
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};
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} // namespace ceres
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#endif // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_
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