| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // mierle@gmail.com (Keir Mierle) |
| |
| #include "ceres/problem_impl.h" |
| |
| #include <algorithm> |
| #include <cstddef> |
| #include <cstdint> |
| #include <iterator> |
| #include <memory> |
| #include <set> |
| #include <string> |
| #include <utility> |
| #include <vector> |
| |
| #include "absl/container/fixed_array.h" |
| #include "absl/log/check.h" |
| #include "absl/log/log.h" |
| #include "absl/strings/str_format.h" |
| #include "ceres/casts.h" |
| #include "ceres/compressed_row_jacobian_writer.h" |
| #include "ceres/compressed_row_sparse_matrix.h" |
| #include "ceres/context_impl.h" |
| #include "ceres/cost_function.h" |
| #include "ceres/crs_matrix.h" |
| #include "ceres/evaluation_callback.h" |
| #include "ceres/evaluator.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/loss_function.h" |
| #include "ceres/manifold.h" |
| #include "ceres/map_util.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/program.h" |
| #include "ceres/program_evaluator.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/scratch_evaluate_preparer.h" |
| #include "ceres/stl_util.h" |
| |
| namespace ceres::internal { |
| namespace { |
| // Returns true if two regions of memory, a and b, with sizes size_a and size_b |
| // respectively, overlap. |
| bool RegionsAlias(const double* a, int size_a, const double* b, int size_b) { |
| return (a < b) ? b < (a + size_a) : a < (b + size_b); |
| } |
| |
| void CheckForNoAliasing(double* existing_block, |
| int existing_block_size, |
| double* new_block, |
| int new_block_size) { |
| CHECK(!RegionsAlias( |
| existing_block, existing_block_size, new_block, new_block_size)) |
| << "Aliasing detected between existing parameter block at memory " |
| << "location " << existing_block << " and has size " |
| << existing_block_size << " with new parameter " |
| << "block that has memory address " << new_block << " and would have " |
| << "size " << new_block_size << "."; |
| } |
| |
| template <typename KeyType> |
| void DecrementValueOrDeleteKey(const KeyType key, |
| std::map<KeyType, int>* container) { |
| auto it = container->find(key); |
| if (it->second == 1) { |
| delete key; |
| container->erase(it); |
| } else { |
| --it->second; |
| } |
| } |
| |
| template <typename ForwardIterator> |
| void STLDeleteContainerPairFirstPointers(ForwardIterator begin, |
| ForwardIterator end) { |
| while (begin != end) { |
| delete begin->first; |
| ++begin; |
| } |
| } |
| |
| void InitializeContext(Context* context, |
| ContextImpl** context_impl, |
| bool* context_impl_owned) { |
| if (context == nullptr) { |
| *context_impl_owned = true; |
| *context_impl = new ContextImpl; |
| } else { |
| *context_impl_owned = false; |
| *context_impl = down_cast<ContextImpl*>(context); |
| } |
| } |
| |
| } // namespace |
| |
| ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values, |
| int size) { |
| CHECK(values != nullptr) << "Null pointer passed to AddParameterBlock " |
| << "for a parameter with size " << size; |
| |
| // Ignore the request if there is a block for the given pointer already. |
| auto it = parameter_block_map_.find(values); |
| if (it != parameter_block_map_.end()) { |
| if (!options_.disable_all_safety_checks) { |
| int existing_size = it->second->Size(); |
| CHECK(size == existing_size) |
| << "Tried adding a parameter block with the same double pointer, " |
| << values << ", twice, but with different block sizes. Original " |
| << "size was " << existing_size << " but new size is " << size; |
| } |
| return it->second; |
| } |
| |
| if (!options_.disable_all_safety_checks) { |
| // Before adding the parameter block, also check that it doesn't alias any |
| // other parameter blocks. |
| if (!parameter_block_map_.empty()) { |
| auto lb = parameter_block_map_.lower_bound(values); |
| |
| // If lb is not the first block, check the previous block for aliasing. |
| if (lb != parameter_block_map_.begin()) { |
| auto previous = lb; |
| --previous; |
| CheckForNoAliasing( |
| previous->first, previous->second->Size(), values, size); |
| } |
| |
| // If lb is not off the end, check lb for aliasing. |
| if (lb != parameter_block_map_.end()) { |
| CheckForNoAliasing(lb->first, lb->second->Size(), values, size); |
| } |
| } |
| } |
| |
| // Pass the index of the new parameter block as well to keep the index in |
| // sync with the position of the parameter in the program's parameter vector. |
| auto* new_parameter_block = |
| new ParameterBlock(values, size, program_->parameter_blocks_.size()); |
| |
| // For dynamic problems, add the list of dependent residual blocks, which is |
| // empty to start. |
| if (options_.enable_fast_removal) { |
| new_parameter_block->EnableResidualBlockDependencies(); |
| } |
| parameter_block_map_[values] = new_parameter_block; |
| program_->parameter_blocks_.push_back(new_parameter_block); |
| return new_parameter_block; |
| } |
| |
| void ProblemImpl::InternalRemoveResidualBlock(ResidualBlock* residual_block) { |
| CHECK(residual_block != nullptr); |
| // Perform no check on the validity of residual_block, that is handled in |
| // the public method: RemoveResidualBlock(). |
| |
| // If needed, remove the parameter dependencies on this residual block. |
| if (options_.enable_fast_removal) { |
| const int num_parameter_blocks_for_residual = |
| residual_block->NumParameterBlocks(); |
| for (int i = 0; i < num_parameter_blocks_for_residual; ++i) { |
| residual_block->parameter_blocks()[i]->RemoveResidualBlock( |
| residual_block); |
| } |
| |
| auto it = residual_block_set_.find(residual_block); |
| residual_block_set_.erase(it); |
| } |
| DeleteBlockInVector(program_->mutable_residual_blocks(), residual_block); |
| } |
| |
| // Deletes the residual block in question, assuming there are no other |
| // references to it inside the problem (e.g. by another parameter). Referenced |
| // cost and loss functions are tucked away for future deletion, since it is not |
| // possible to know whether other parts of the problem depend on them without |
| // doing a full scan. |
| void ProblemImpl::DeleteBlock(ResidualBlock* residual_block) { |
| // The const casts here are legit, since ResidualBlock holds these |
| // pointers as const pointers but we have ownership of them and |
| // have the right to destroy them when the destructor is called. |
| auto* cost_function = |
| const_cast<CostFunction*>(residual_block->cost_function()); |
| if (options_.cost_function_ownership == TAKE_OWNERSHIP) { |
| DecrementValueOrDeleteKey(cost_function, &cost_function_ref_count_); |
| } |
| |
| auto* loss_function = |
| const_cast<LossFunction*>(residual_block->loss_function()); |
| if (options_.loss_function_ownership == TAKE_OWNERSHIP && |
| loss_function != nullptr) { |
| DecrementValueOrDeleteKey(loss_function, &loss_function_ref_count_); |
| } |
| |
| delete residual_block; |
| } |
| |
| // Deletes the parameter block in question, assuming there are no other |
| // references to it inside the problem (e.g. by any residual blocks). |
| void ProblemImpl::DeleteBlock(ParameterBlock* parameter_block) { |
| parameter_block_map_.erase(parameter_block->mutable_user_state()); |
| delete parameter_block; |
| } |
| |
| ProblemImpl::ProblemImpl() |
| : options_(Problem::Options()), program_(new internal::Program) { |
| InitializeContext(options_.context, &context_impl_, &context_impl_owned_); |
| } |
| |
| ProblemImpl::ProblemImpl(const Problem::Options& options) |
| : options_(options), program_(new internal::Program) { |
| program_->evaluation_callback_ = options.evaluation_callback; |
| InitializeContext(options_.context, &context_impl_, &context_impl_owned_); |
| } |
| |
| ProblemImpl::~ProblemImpl() { |
| STLDeleteContainerPointers(program_->residual_blocks_.begin(), |
| program_->residual_blocks_.end()); |
| |
| if (options_.cost_function_ownership == TAKE_OWNERSHIP) { |
| STLDeleteContainerPairFirstPointers(cost_function_ref_count_.begin(), |
| cost_function_ref_count_.end()); |
| } |
| |
| if (options_.loss_function_ownership == TAKE_OWNERSHIP) { |
| STLDeleteContainerPairFirstPointers(loss_function_ref_count_.begin(), |
| loss_function_ref_count_.end()); |
| } |
| |
| // Collect the unique parameterizations and delete the parameters. |
| for (auto* parameter_block : program_->parameter_blocks_) { |
| DeleteBlock(parameter_block); |
| } |
| |
| // Delete the owned manifolds. |
| STLDeleteUniqueContainerPointers(manifolds_to_delete_.begin(), |
| manifolds_to_delete_.end()); |
| |
| if (context_impl_owned_) { |
| delete context_impl_; |
| } |
| } |
| |
| ResidualBlockId ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* const* const parameter_blocks, |
| int num_parameter_blocks) { |
| CHECK(cost_function != nullptr); |
| CHECK_EQ(num_parameter_blocks, cost_function->parameter_block_sizes().size()); |
| |
| // Check the sizes match. |
| const std::vector<int32_t>& parameter_block_sizes = |
| cost_function->parameter_block_sizes(); |
| |
| if (!options_.disable_all_safety_checks) { |
| CHECK_EQ(parameter_block_sizes.size(), num_parameter_blocks) |
| << "Number of blocks input is different than the number of blocks " |
| << "that the cost function expects."; |
| |
| // Check for duplicate parameter blocks. |
| std::vector<double*> sorted_parameter_blocks( |
| parameter_blocks, parameter_blocks + num_parameter_blocks); |
| std::sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end()); |
| const bool has_duplicate_items = |
| (std::adjacent_find(sorted_parameter_blocks.begin(), |
| sorted_parameter_blocks.end()) != |
| sorted_parameter_blocks.end()); |
| if (has_duplicate_items) { |
| std::string blocks; |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| absl::StrAppendFormat(&blocks, " %p ", parameter_blocks[i]); |
| } |
| |
| LOG(FATAL) << "Duplicate parameter blocks in a residual parameter " |
| << "are not allowed. Parameter block pointers: [" << blocks |
| << "]"; |
| } |
| } |
| |
| // Add parameter blocks and convert the double*'s to parameter blocks. |
| std::vector<ParameterBlock*> parameter_block_ptrs(num_parameter_blocks); |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| parameter_block_ptrs[i] = InternalAddParameterBlock( |
| parameter_blocks[i], parameter_block_sizes[i]); |
| } |
| |
| if (!options_.disable_all_safety_checks) { |
| // Check that the block sizes match the block sizes expected by the |
| // cost_function. |
| for (int i = 0; i < parameter_block_ptrs.size(); ++i) { |
| CHECK_EQ(cost_function->parameter_block_sizes()[i], |
| parameter_block_ptrs[i]->Size()) |
| << "The cost function expects parameter block " << i << " of size " |
| << cost_function->parameter_block_sizes()[i] |
| << " but was given a block of size " |
| << parameter_block_ptrs[i]->Size(); |
| } |
| } |
| |
| auto* new_residual_block = |
| new ResidualBlock(cost_function, |
| loss_function, |
| parameter_block_ptrs, |
| program_->residual_blocks_.size()); |
| |
| // Add dependencies on the residual to the parameter blocks. |
| if (options_.enable_fast_removal) { |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| parameter_block_ptrs[i]->AddResidualBlock(new_residual_block); |
| } |
| } |
| |
| program_->residual_blocks_.push_back(new_residual_block); |
| |
| if (options_.enable_fast_removal) { |
| residual_block_set_.insert(new_residual_block); |
| } |
| |
| if (options_.cost_function_ownership == TAKE_OWNERSHIP) { |
| // Increment the reference count, creating an entry in the table if |
| // needed. Note: C++ maps guarantee that new entries have default |
| // constructed values; this implies integers are zero initialized. |
| ++cost_function_ref_count_[cost_function]; |
| } |
| |
| if (options_.loss_function_ownership == TAKE_OWNERSHIP && |
| loss_function != nullptr) { |
| ++loss_function_ref_count_[loss_function]; |
| } |
| |
| return new_residual_block; |
| } |
| |
| void ProblemImpl::AddParameterBlock(double* values, int size) { |
| InternalAddParameterBlock(values, size); |
| } |
| |
| void ProblemImpl::InternalSetManifold(double* /*values*/, |
| ParameterBlock* parameter_block, |
| Manifold* manifold) { |
| if (manifold != nullptr && options_.manifold_ownership == TAKE_OWNERSHIP) { |
| manifolds_to_delete_.push_back(manifold); |
| } |
| parameter_block->SetManifold(manifold); |
| } |
| |
| void ProblemImpl::AddParameterBlock(double* values, |
| int size, |
| Manifold* manifold) { |
| ParameterBlock* parameter_block = InternalAddParameterBlock(values, size); |
| InternalSetManifold(values, parameter_block, manifold); |
| } |
| |
| // Delete a block from a vector of blocks, maintaining the indexing invariant. |
| // This is done in constant time by moving an element from the end of the |
| // vector over the element to remove, then popping the last element. It |
| // destroys the ordering in the interest of speed. |
| template <typename Block> |
| void ProblemImpl::DeleteBlockInVector(std::vector<Block*>* mutable_blocks, |
| Block* block_to_remove) { |
| CHECK_EQ((*mutable_blocks)[block_to_remove->index()], block_to_remove) |
| << "You found a Ceres bug! \n" |
| << "Block requested: " << block_to_remove->ToString() << "\n" |
| << "Block present: " |
| << (*mutable_blocks)[block_to_remove->index()]->ToString(); |
| |
| // Prepare the to-be-moved block for the new, lower-in-index position by |
| // setting the index to the blocks final location. |
| Block* tmp = mutable_blocks->back(); |
| tmp->set_index(block_to_remove->index()); |
| |
| // Overwrite the to-be-deleted residual block with the one at the end. |
| (*mutable_blocks)[block_to_remove->index()] = tmp; |
| |
| DeleteBlock(block_to_remove); |
| |
| // The block is gone so shrink the vector of blocks accordingly. |
| mutable_blocks->pop_back(); |
| } |
| |
| void ProblemImpl::RemoveResidualBlock(ResidualBlock* residual_block) { |
| CHECK(residual_block != nullptr); |
| |
| // Verify that residual_block identifies a residual in the current problem. |
| const std::string residual_not_found_message = absl::StrFormat( |
| "Residual block to remove: %p not found. This usually means " |
| "one of three things have happened:\n" |
| " 1) residual_block is uninitialised and points to a random " |
| "area in memory.\n" |
| " 2) residual_block represented a residual that was added to" |
| " the problem, but referred to a parameter block which has " |
| "since been removed, which removes all residuals which " |
| "depend on that parameter block, and was thus removed.\n" |
| " 3) residual_block referred to a residual that has already " |
| "been removed from the problem (by the user).", |
| residual_block); |
| if (options_.enable_fast_removal) { |
| CHECK(residual_block_set_.find(residual_block) != residual_block_set_.end()) |
| << residual_not_found_message; |
| } else { |
| // Perform a full search over all current residuals. |
| CHECK(std::find(program_->residual_blocks().begin(), |
| program_->residual_blocks().end(), |
| residual_block) != program_->residual_blocks().end()) |
| << residual_not_found_message; |
| } |
| |
| InternalRemoveResidualBlock(residual_block); |
| } |
| |
| void ProblemImpl::RemoveParameterBlock(const double* values) { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "it can be removed."; |
| } |
| |
| if (options_.enable_fast_removal) { |
| // Copy the dependent residuals from the parameter block because the set of |
| // dependents will change after each call to RemoveResidualBlock(). |
| std::vector<ResidualBlock*> residual_blocks_to_remove( |
| parameter_block->mutable_residual_blocks()->begin(), |
| parameter_block->mutable_residual_blocks()->end()); |
| for (auto* residual_block : residual_blocks_to_remove) { |
| InternalRemoveResidualBlock(residual_block); |
| } |
| } else { |
| // Scan all the residual blocks to remove ones that depend on the parameter |
| // block. Do the scan backwards since the vector changes while iterating. |
| const int num_residual_blocks = NumResidualBlocks(); |
| for (int i = num_residual_blocks - 1; i >= 0; --i) { |
| ResidualBlock* residual_block = |
| (*(program_->mutable_residual_blocks()))[i]; |
| const int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| for (int j = 0; j < num_parameter_blocks; ++j) { |
| if (residual_block->parameter_blocks()[j] == parameter_block) { |
| InternalRemoveResidualBlock(residual_block); |
| // The parameter blocks are guaranteed unique. |
| break; |
| } |
| } |
| } |
| } |
| DeleteBlockInVector(program_->mutable_parameter_blocks(), parameter_block); |
| } |
| |
| void ProblemImpl::SetParameterBlockConstant(const double* values) { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "it can be set constant."; |
| } |
| |
| parameter_block->SetConstant(); |
| } |
| |
| bool ProblemImpl::IsParameterBlockConstant(const double* values) const { |
| const ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| CHECK(parameter_block != nullptr) |
| << "Parameter block not found: " << values << ". You must add the " |
| << "parameter block to the problem before it can be queried."; |
| return parameter_block->IsConstant(); |
| } |
| |
| void ProblemImpl::SetParameterBlockVariable(double* values) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "it can be set varying."; |
| } |
| |
| parameter_block->SetVarying(); |
| } |
| |
| void ProblemImpl::SetManifold(double* values, Manifold* manifold) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can set its manifold."; |
| } |
| |
| InternalSetManifold(values, parameter_block, manifold); |
| } |
| |
| const Manifold* ProblemImpl::GetManifold(const double* values) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get its manifold."; |
| } |
| |
| return parameter_block->manifold(); |
| } |
| |
| bool ProblemImpl::HasManifold(const double* values) const { |
| return GetManifold(values) != nullptr; |
| } |
| |
| void ProblemImpl::SetParameterLowerBound(double* values, |
| int index, |
| double lower_bound) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can set a lower bound on one of its components."; |
| } |
| |
| parameter_block->SetLowerBound(index, lower_bound); |
| } |
| |
| void ProblemImpl::SetParameterUpperBound(double* values, |
| int index, |
| double upper_bound) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can set an upper bound on one of its components."; |
| } |
| parameter_block->SetUpperBound(index, upper_bound); |
| } |
| |
| double ProblemImpl::GetParameterLowerBound(const double* values, |
| int index) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get the lower bound on one of its components."; |
| } |
| return parameter_block->LowerBound(index); |
| } |
| |
| double ProblemImpl::GetParameterUpperBound(const double* values, |
| int index) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can set an upper bound on one of its components."; |
| } |
| return parameter_block->UpperBound(index); |
| } |
| |
| bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options, |
| double* cost, |
| std::vector<double>* residuals, |
| std::vector<double>* gradient, |
| CRSMatrix* jacobian) { |
| if (cost == nullptr && residuals == nullptr && gradient == nullptr && |
| jacobian == nullptr) { |
| return true; |
| } |
| |
| // If the user supplied residual blocks, then use them, otherwise |
| // take the residual blocks from the underlying program. |
| Program program; |
| *program.mutable_residual_blocks() = |
| ((evaluate_options.residual_blocks.size() > 0) |
| ? evaluate_options.residual_blocks |
| : program_->residual_blocks()); |
| |
| const std::vector<double*>& parameter_block_ptrs = |
| evaluate_options.parameter_blocks; |
| |
| std::vector<ParameterBlock*> variable_parameter_blocks; |
| std::vector<ParameterBlock*>& parameter_blocks = |
| *program.mutable_parameter_blocks(); |
| |
| if (parameter_block_ptrs.size() == 0) { |
| // The user did not provide any parameter blocks, so default to |
| // using all the parameter blocks in the order that they are in |
| // the underlying program object. |
| parameter_blocks = program_->parameter_blocks(); |
| } else { |
| // The user supplied a vector of parameter blocks. Using this list |
| // requires a number of steps. |
| |
| // 1. Convert double* into ParameterBlock* |
| parameter_blocks.resize(parameter_block_ptrs.size()); |
| for (int i = 0; i < parameter_block_ptrs.size(); ++i) { |
| parameter_blocks[i] = FindWithDefault( |
| parameter_block_map_, parameter_block_ptrs[i], nullptr); |
| if (parameter_blocks[i] == nullptr) { |
| LOG(FATAL) << "No known parameter block for " |
| << "Problem::Evaluate::Options.parameter_blocks[" << i << "]" |
| << " = " << parameter_block_ptrs[i]; |
| } |
| } |
| |
| // 2. The user may have only supplied a subset of parameter |
| // blocks, so identify the ones that are not supplied by the user |
| // and are NOT constant. These parameter blocks are stored in |
| // variable_parameter_blocks. |
| // |
| // To ensure that the parameter blocks are not included in the |
| // columns of the jacobian, we need to make sure that they are |
| // constant during evaluation and then make them variable again |
| // after we are done. |
| std::vector<ParameterBlock*> all_parameter_blocks( |
| program_->parameter_blocks()); |
| std::vector<ParameterBlock*> included_parameter_blocks( |
| program.parameter_blocks()); |
| |
| std::vector<ParameterBlock*> excluded_parameter_blocks; |
| std::sort(all_parameter_blocks.begin(), all_parameter_blocks.end()); |
| std::sort(included_parameter_blocks.begin(), |
| included_parameter_blocks.end()); |
| set_difference(all_parameter_blocks.begin(), |
| all_parameter_blocks.end(), |
| included_parameter_blocks.begin(), |
| included_parameter_blocks.end(), |
| back_inserter(excluded_parameter_blocks)); |
| |
| variable_parameter_blocks.reserve(excluded_parameter_blocks.size()); |
| for (auto* parameter_block : excluded_parameter_blocks) { |
| if (!parameter_block->IsConstant()) { |
| variable_parameter_blocks.push_back(parameter_block); |
| parameter_block->SetConstant(); |
| } |
| } |
| } |
| |
| // Setup the Parameter indices and offsets before an evaluator can |
| // be constructed and used. |
| program.SetParameterOffsetsAndIndex(); |
| |
| Evaluator::Options evaluator_options; |
| |
| // Even though using SPARSE_NORMAL_CHOLESKY requires a sparse linear algebra |
| // library here it just being used for telling the evaluator to use a |
| // SparseRowCompressedMatrix for the jacobian. This is because the Evaluator |
| // decides the storage for the Jacobian based on the type of linear solver |
| // being used. |
| evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; |
| evaluator_options.num_threads = evaluate_options.num_threads; |
| |
| // The main thread also does work so we only need to launch num_threads - 1. |
| context_impl_->EnsureMinimumThreads(evaluator_options.num_threads - 1); |
| evaluator_options.context = context_impl_; |
| evaluator_options.evaluation_callback = |
| program_->mutable_evaluation_callback(); |
| std::unique_ptr<Evaluator> evaluator( |
| new ProgramEvaluator<ScratchEvaluatePreparer, |
| CompressedRowJacobianWriter>(evaluator_options, |
| &program)); |
| |
| if (residuals != nullptr) { |
| residuals->resize(evaluator->NumResiduals()); |
| } |
| |
| if (gradient != nullptr) { |
| gradient->resize(evaluator->NumEffectiveParameters()); |
| } |
| |
| std::unique_ptr<CompressedRowSparseMatrix> tmp_jacobian; |
| if (jacobian != nullptr) { |
| tmp_jacobian.reset(down_cast<CompressedRowSparseMatrix*>( |
| evaluator->CreateJacobian().release())); |
| } |
| |
| // Point the state pointers to the user state pointers. This is |
| // needed so that we can extract a parameter vector which is then |
| // passed to Evaluator::Evaluate. |
| program.SetParameterBlockStatePtrsToUserStatePtrs(); |
| |
| // Copy the value of the parameter blocks into a vector, since the |
| // Evaluate::Evaluate method needs its input as such. The previous |
| // call to SetParameterBlockStatePtrsToUserStatePtrs ensures that |
| // these values are the ones corresponding to the actual state of |
| // the parameter blocks, rather than the temporary state pointer |
| // used for evaluation. |
| Vector parameters(program.NumParameters()); |
| program.ParameterBlocksToStateVector(parameters.data()); |
| |
| double tmp_cost = 0; |
| |
| Evaluator::EvaluateOptions evaluator_evaluate_options; |
| evaluator_evaluate_options.apply_loss_function = |
| evaluate_options.apply_loss_function; |
| bool status = |
| evaluator->Evaluate(evaluator_evaluate_options, |
| parameters.data(), |
| &tmp_cost, |
| residuals != nullptr ? &(*residuals)[0] : nullptr, |
| gradient != nullptr ? &(*gradient)[0] : nullptr, |
| tmp_jacobian.get()); |
| |
| // Make the parameter blocks that were temporarily marked constant, |
| // variable again. |
| for (auto* parameter_block : variable_parameter_blocks) { |
| parameter_block->SetVarying(); |
| } |
| |
| if (status) { |
| if (cost != nullptr) { |
| *cost = tmp_cost; |
| } |
| if (jacobian != nullptr) { |
| tmp_jacobian->ToCRSMatrix(jacobian); |
| } |
| } |
| |
| program_->SetParameterBlockStatePtrsToUserStatePtrs(); |
| program_->SetParameterOffsetsAndIndex(); |
| return status; |
| } |
| |
| bool ProblemImpl::EvaluateResidualBlock(ResidualBlock* residual_block, |
| bool apply_loss_function, |
| bool new_point, |
| double* cost, |
| double* residuals, |
| double** jacobians) const { |
| auto evaluation_callback = program_->mutable_evaluation_callback(); |
| if (evaluation_callback) { |
| evaluation_callback->PrepareForEvaluation(jacobians != nullptr, new_point); |
| } |
| |
| ParameterBlock* const* parameter_blocks = residual_block->parameter_blocks(); |
| const int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| ParameterBlock* parameter_block = parameter_blocks[i]; |
| if (parameter_block->IsConstant()) { |
| if (jacobians != nullptr && jacobians[i] != nullptr) { |
| LOG(ERROR) << "Jacobian requested for parameter block : " << i |
| << ". But the parameter block is marked constant."; |
| return false; |
| } |
| } else { |
| CHECK(parameter_block->SetState(parameter_block->user_state())) |
| << "Congratulations, you found a Ceres bug! Please report this error " |
| << "to the developers."; |
| } |
| } |
| |
| double dummy_cost = 0.0; |
| absl::FixedArray<double> scratch( |
| residual_block->NumScratchDoublesForEvaluate()); |
| return residual_block->Evaluate(apply_loss_function, |
| cost ? cost : &dummy_cost, |
| residuals, |
| jacobians, |
| scratch.data()); |
| } |
| |
| int ProblemImpl::NumParameterBlocks() const { |
| return program_->NumParameterBlocks(); |
| } |
| |
| int ProblemImpl::NumParameters() const { return program_->NumParameters(); } |
| |
| int ProblemImpl::NumResidualBlocks() const { |
| return program_->NumResidualBlocks(); |
| } |
| |
| int ProblemImpl::NumResiduals() const { return program_->NumResiduals(); } |
| |
| int ProblemImpl::ParameterBlockSize(const double* values) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get its size."; |
| } |
| |
| return parameter_block->Size(); |
| } |
| |
| int ProblemImpl::ParameterBlockTangentSize(const double* values) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get its tangent size."; |
| } |
| |
| return parameter_block->TangentSize(); |
| } |
| |
| bool ProblemImpl::HasParameterBlock(const double* values) const { |
| return (parameter_block_map_.find(const_cast<double*>(values)) != |
| parameter_block_map_.end()); |
| } |
| |
| void ProblemImpl::GetParameterBlocks( |
| std::vector<double*>* parameter_blocks) const { |
| CHECK(parameter_blocks != nullptr); |
| parameter_blocks->resize(0); |
| parameter_blocks->reserve(parameter_block_map_.size()); |
| for (const auto& entry : parameter_block_map_) { |
| parameter_blocks->push_back(entry.first); |
| } |
| } |
| |
| void ProblemImpl::GetResidualBlocks( |
| std::vector<ResidualBlockId>* residual_blocks) const { |
| CHECK(residual_blocks != nullptr); |
| *residual_blocks = program().residual_blocks(); |
| } |
| |
| void ProblemImpl::GetParameterBlocksForResidualBlock( |
| const ResidualBlockId residual_block, |
| std::vector<double*>* parameter_blocks) const { |
| int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| CHECK(parameter_blocks != nullptr); |
| parameter_blocks->resize(num_parameter_blocks); |
| for (int i = 0; i < num_parameter_blocks; ++i) { |
| (*parameter_blocks)[i] = |
| residual_block->parameter_blocks()[i]->mutable_user_state(); |
| } |
| } |
| |
| const CostFunction* ProblemImpl::GetCostFunctionForResidualBlock( |
| const ResidualBlockId residual_block) const { |
| return residual_block->cost_function(); |
| } |
| |
| const LossFunction* ProblemImpl::GetLossFunctionForResidualBlock( |
| const ResidualBlockId residual_block) const { |
| return residual_block->loss_function(); |
| } |
| |
| void ProblemImpl::GetResidualBlocksForParameterBlock( |
| const double* values, std::vector<ResidualBlockId>* residual_blocks) const { |
| ParameterBlock* parameter_block = FindWithDefault( |
| parameter_block_map_, const_cast<double*>(values), nullptr); |
| if (parameter_block == nullptr) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get the residual blocks that depend on it."; |
| } |
| |
| if (options_.enable_fast_removal) { |
| // In this case the residual blocks that depend on the parameter block are |
| // stored in the parameter block already, so just copy them out. |
| CHECK(residual_blocks != nullptr); |
| residual_blocks->resize(parameter_block->mutable_residual_blocks()->size()); |
| std::copy(parameter_block->mutable_residual_blocks()->begin(), |
| parameter_block->mutable_residual_blocks()->end(), |
| residual_blocks->begin()); |
| return; |
| } |
| |
| // Find residual blocks that depend on the parameter block. |
| CHECK(residual_blocks != nullptr); |
| residual_blocks->clear(); |
| const int num_residual_blocks = NumResidualBlocks(); |
| for (int i = 0; i < num_residual_blocks; ++i) { |
| ResidualBlock* residual_block = (*(program_->mutable_residual_blocks()))[i]; |
| const int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| for (int j = 0; j < num_parameter_blocks; ++j) { |
| if (residual_block->parameter_blocks()[j] == parameter_block) { |
| residual_blocks->push_back(residual_block); |
| // The parameter blocks are guaranteed unique. |
| break; |
| } |
| } |
| } |
| } |
| |
| } // namespace ceres::internal |
