ceres-solver / ceres-solver / 84436f791c2f76a82f56190ba9d744c904c07551 / . / docs / source / automatic_derivatives.rst

.. default-domain:: cpp | |

.. cpp:namespace:: ceres | |

.. _chapter-automatic_derivatives: | |

===================== | |

Automatic Derivatives | |

===================== | |

We will now consider automatic differentiation. It is a technique that | |

can compute exact derivatives, fast, while requiring about the same | |

effort from the user as is needed to use numerical differentiation. | |

Don't believe me? Well here goes. The following code fragment | |

implements an automatically differentiated ``CostFunction`` for `Rat43 | |

<http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml>`_. | |

.. code-block:: c++ | |

struct Rat43CostFunctor { | |

Rat43CostFunctor(const double x, const double y) : x_(x), y_(y) {} | |

template <typename T> | |

bool operator()(const T* parameters, T* residuals) const { | |

const T b1 = parameters[0]; | |

const T b2 = parameters[1]; | |

const T b3 = parameters[2]; | |

const T b4 = parameters[3]; | |

residuals[0] = b1 * pow(1.0 + exp(b2 - b3 * x_), -1.0 / b4) - y_; | |

return true; | |

} | |

private: | |

const double x_; | |

const double y_; | |

}; | |

CostFunction* cost_function = | |

new AutoDiffCostFunction<Rat43CostFunctor, 1, 4>( | |

new Rat43CostFunctor(x, y)); | |

Notice that compared to numeric differentiation, the only difference | |

when defining the functor for use with automatic differentiation is | |

the signature of the ``operator()``. | |

In the case of numeric differentiation it was | |

.. code-block:: c++ | |

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

and for automatic differentiation it is a templated function of the | |

form | |

.. code-block:: c++ | |

template <typename T> bool operator()(const T* parameters, T* residuals) const; | |

So what does this small change buy us? The following table compares | |

the time it takes to evaluate the residual and the Jacobian for | |

`Rat43` using various methods. | |

========================== ========= | |

CostFunction Time (ns) | |

========================== ========= | |

Rat43Analytic 255 | |

Rat43AnalyticOptimized 92 | |

Rat43NumericDiffForward 262 | |

Rat43NumericDiffCentral 517 | |

Rat43NumericDiffRidders 3760 | |

Rat43AutomaticDiff 129 | |

========================== ========= | |

We can get exact derivatives using automatic differentiation | |

(``Rat43AutomaticDiff``) with about the same effort that is required | |

to write the code for numeric differentiation but only :math:`40\%` | |

slower than hand optimized analytical derivatives. | |

So how does it work? For this we will have to learn about **Dual | |

Numbers** and **Jets** . | |

Dual Numbers & Jets | |

=================== | |

.. NOTE:: | |

Reading this and the next section on implementing Jets is not | |

necessary to use automatic differentiation in Ceres Solver. But | |

knowing the basics of how Jets work is useful when debugging and | |

reasoning about the performance of automatic differentiation. | |

Dual numbers are an extension of the real numbers analogous to complex | |

numbers: whereas complex numbers augment the reals by introducing an | |

imaginary unit :math:`\iota` such that :math:`\iota^2 = -1`, dual | |

numbers introduce an *infinitesimal* unit :math:`\epsilon` such that | |

:math:`\epsilon^2 = 0` . A dual number :math:`a + v\epsilon` has two | |

components, the *real* component :math:`a` and the *infinitesimal* | |

component :math:`v`. | |

Surprisingly, this simple change leads to a convenient method for | |

computing exact derivatives without needing to manipulate complicated | |

symbolic expressions. | |

For example, consider the function | |

.. math:: | |

f(x) = x^2 , | |

Then, | |

.. math:: | |

\begin{align} | |

f(10 + \epsilon) &= (10 + \epsilon)^2\\ | |

&= 100 + 20 \epsilon + \epsilon^2\\ | |

&= 100 + 20 \epsilon | |

\end{align} | |

Observe that the coefficient of :math:`\epsilon` is :math:`Df(10) = | |

20`. Indeed this generalizes to functions which are not | |

polynomial. Consider an arbitrary differentiable function | |

:math:`f(x)`. Then we can evaluate :math:`f(x + \epsilon)` by | |

considering the Taylor expansion of :math:`f` near :math:`x`, which | |

gives us the infinite series | |

.. math:: | |

\begin{align} | |

f(x + \epsilon) &= f(x) + Df(x) \epsilon + D^2f(x) | |

\frac{\epsilon^2}{2} + D^3f(x) \frac{\epsilon^3}{6} + \cdots\\ | |

f(x + \epsilon) &= f(x) + Df(x) \epsilon | |

\end{align} | |

Here we are using the fact that :math:`\epsilon^2 = 0`. | |

A `Jet <https://en.wikipedia.org/wiki/Jet_(mathematics)>`_ is a | |

:math:`n`-dimensional dual number, where we augment the real numbers | |

with :math:`n` infinitesimal units :math:`\epsilon_i,\ i=1,...,n` with | |

the property that :math:`\forall i, j\ :\epsilon_i\epsilon_j = 0`. Then | |

a Jet consists of a *real* part :math:`a` and a :math:`n`-dimensional | |

*infinitesimal* part :math:`\mathbf{v}`, i.e., | |

.. math:: | |

x = a + \sum_j v_{j} \epsilon_j | |

The summation notation gets tedious, so we will also just write | |

.. math:: | |

x = a + \mathbf{v}. | |

where the :math:`\epsilon_i`'s are implicit. Then, using the same | |

Taylor series expansion used above, we can see that: | |

.. math:: | |

f(a + \mathbf{v}) = f(a) + Df(a) \mathbf{v}. | |

Similarly for a multivariate function | |

:math:`f:\mathbb{R}^{n}\rightarrow \mathbb{R}^m`, evaluated on | |

:math:`x_i = a_i + \mathbf{v}_i,\ \forall i = 1,...,n`: | |

.. math:: | |

f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \mathbf{v}_i | |

So if each :math:`\mathbf{v}_i = e_i` were the :math:`i^{\text{th}}` | |

standard basis vector, then, the above expression would simplify to | |

.. math:: | |

f(x_1,..., x_n) = f(a_1, ..., a_n) + \sum_i D_i f(a_1, ..., a_n) \epsilon_i | |

and we can extract the coordinates of the Jacobian by inspecting the | |

coefficients of :math:`\epsilon_i`. | |

Implementing Jets | |

----------------- | |

In order for the above to work in practice, we will need the ability | |

to evaluate an arbitrary function :math:`f` not just on real numbers | |

but also on dual numbers, but one does not usually evaluate functions | |

by evaluating their Taylor expansions, | |

This is where C++ templates and operator overloading comes into | |

play. The following code fragment has a simple implementation of a | |

``Jet`` and some operators/functions that operate on them. | |

.. code-block:: c++ | |

template<int N> struct Jet { | |

double a; | |

Eigen::Matrix<double, 1, N> v; | |

}; | |

template<int N> Jet<N> operator+(const Jet<N>& f, const Jet<N>& g) { | |

return Jet<N>(f.a + g.a, f.v + g.v); | |

} | |

template<int N> Jet<N> operator-(const Jet<N>& f, const Jet<N>& g) { | |

return Jet<N>(f.a - g.a, f.v - g.v); | |

} | |

template<int N> Jet<N> operator*(const Jet<N>& f, const Jet<N>& g) { | |

return Jet<N>(f.a * g.a, f.a * g.v + f.v * g.a); | |

} | |

template<int N> Jet<N> operator/(const Jet<N>& f, const Jet<N>& g) { | |

return Jet<N>(f.a / g.a, f.v / g.a - f.a * g.v / (g.a * g.a)); | |

} | |

template <int N> Jet<N> exp(const Jet<N>& f) { | |

return Jet<T, N>(exp(f.a), exp(f.a) * f.v); | |

} | |

// This is a simple implementation for illustration purposes, the | |

// actual implementation of pow requires careful handling of a number | |

// of corner cases. | |

template <int N> Jet<N> pow(const Jet<N>& f, const Jet<N>& g) { | |

return Jet<N>(pow(f.a, g.a), | |

g.a * pow(f.a, g.a - 1.0) * f.v + | |

pow(f.a, g.a) * log(f.a); * g.v); | |

} | |

With these overloaded functions in hand, we can now call | |

``Rat43CostFunctor`` with an array of Jets instead of doubles. Putting | |

that together with appropriately initialized Jets allows us to compute | |

the Jacobian as follows: | |

.. code-block:: c++ | |

class Rat43Automatic : public ceres::SizedCostFunction<1,4> { | |

public: | |

Rat43Automatic(const Rat43CostFunctor* functor) : functor_(functor) {} | |

virtual ~Rat43Automatic() {} | |

virtual bool Evaluate(double const* const* parameters, | |

double* residuals, | |

double** jacobians) const { | |

// Just evaluate the residuals if Jacobians are not required. | |

if (!jacobians) return (*functor_)(parameters[0], residuals); | |

// Initialize the Jets | |

ceres::Jet<4> jets[4]; | |

for (int i = 0; i < 4; ++i) { | |

jets[i].a = parameters[0][i]; | |

jets[i].v.setZero(); | |

jets[i].v[i] = 1.0; | |

} | |

ceres::Jet<4> result; | |

(*functor_)(jets, &result); | |

// Copy the values out of the Jet. | |

residuals[0] = result.a; | |

for (int i = 0; i < 4; ++i) { | |

jacobians[0][i] = result.v[i]; | |

} | |

return true; | |

} | |

private: | |

std::unique_ptr<const Rat43CostFunctor> functor_; | |

}; | |

Indeed, this is essentially how :class:`AutoDiffCostFunction` works. | |

Pitfalls | |

======== | |

Automatic differentiation frees the user from the burden of computing | |

and reasoning about the symbolic expressions for the Jacobians, but | |

this freedom comes at a cost. For example consider the following | |

simple functor: | |

.. code-block:: c++ | |

struct Functor { | |

template <typename T> bool operator()(const T* x, T* residual) const { | |

residual[0] = 1.0 - sqrt(x[0] * x[0] + x[1] * x[1]); | |

return true; | |

} | |

}; | |

Looking at the code for the residual computation, one does not foresee | |

any problems. However, if we look at the analytical expressions for | |

the Jacobian: | |

.. math:: | |

y &= 1 - \sqrt{x_0^2 + x_1^2}\\ | |

D_1y &= -\frac{x_0}{\sqrt{x_0^2 + x_1^2}},\ | |

D_2y = -\frac{x_1}{\sqrt{x_0^2 + x_1^2}} | |

we find that it is an indeterminate form at :math:`x_0 = 0, x_1 = | |

0`. | |

There is no single solution to this problem. In some cases one needs | |

to reason explicitly about the points where indeterminacy may occur | |

and use alternate expressions using `L'HÃ´pital's rule | |

<https://en.wikipedia.org/wiki/L'H%C3%B4pital's_rule>`_ (see for | |

example some of the conversion routines in `rotation.h | |

<https://github.com/ceres-solver/ceres-solver/blob/master/include/ceres/rotation.h>`_. In | |

other cases, one may need to regularize the expressions to eliminate | |

these points. |