| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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: keir@google.com (Keir Mierle) |
| |
| #ifndef CERES_INTERNAL_PROGRAM_H_ |
| #define CERES_INTERNAL_PROGRAM_H_ |
| |
| #include <memory> |
| #include <set> |
| #include <string> |
| #include <vector> |
| |
| #include "ceres/evaluation_callback.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| |
| namespace ceres::internal { |
| |
| class ParameterBlock; |
| class ProblemImpl; |
| class ResidualBlock; |
| class TripletSparseMatrix; |
| |
| // A nonlinear least squares optimization problem. This is different from the |
| // similarly-named "Problem" object, which offers a mutation interface for |
| // adding and modifying parameters and residuals. The Program contains the core |
| // part of the Problem, which is the parameters and the residuals, stored in a |
| // particular ordering. The ordering is critical, since it defines the mapping |
| // between (residual, parameter) pairs and a position in the jacobian of the |
| // objective function. Various parts of Ceres transform one Program into |
| // another; for example, the first stage of solving involves stripping all |
| // constant parameters and residuals. This is in contrast with Problem, which is |
| // not built for transformation. |
| class CERES_NO_EXPORT Program { |
| public: |
| // The ordered parameter and residual blocks for the program. |
| const std::vector<ParameterBlock*>& parameter_blocks() const; |
| const std::vector<ResidualBlock*>& residual_blocks() const; |
| std::vector<ParameterBlock*>* mutable_parameter_blocks(); |
| std::vector<ResidualBlock*>* mutable_residual_blocks(); |
| EvaluationCallback* mutable_evaluation_callback(); |
| |
| // Serialize to/from the program and update states. |
| // |
| // NOTE: Setting the state of a parameter block can trigger the |
| // computation of the Jacobian of its manifold. If this computation fails for |
| // some reason, then this method returns false and the state of the parameter |
| // blocks cannot be trusted. |
| bool StateVectorToParameterBlocks(const double* state); |
| void ParameterBlocksToStateVector(double* state) const; |
| |
| // Copy internal state to the user's parameters. |
| void CopyParameterBlockStateToUserState(); |
| |
| // Set the parameter block pointers to the user pointers. Since this |
| // runs parameter block set state internally, which may call manifold, this |
| // can fail. False is returned on failure. |
| bool SetParameterBlockStatePtrsToUserStatePtrs(); |
| |
| // Update a state vector for the program given a delta. |
| bool Plus(const double* state, |
| const double* delta, |
| double* state_plus_delta) const; |
| |
| // Set the parameter indices and offsets. This permits mapping backward |
| // from a ParameterBlock* to an index in the parameter_blocks() vector. For |
| // any parameter block p, after calling SetParameterOffsetsAndIndex(), it |
| // is true that |
| // |
| // parameter_blocks()[p->index()] == p |
| // |
| // If a parameter appears in a residual but not in the parameter block, then |
| // it will have an index of -1. |
| // |
| // This also updates p->state_offset() and p->delta_offset(), which are the |
| // position of the parameter in the state and delta vector respectively. |
| void SetParameterOffsetsAndIndex(); |
| |
| // Check if the internal state of the program (the indexing and the |
| // offsets) are correct. |
| bool IsValid() const; |
| |
| bool ParameterBlocksAreFinite(std::string* message) const; |
| |
| // Returns true if the program has any non-constant parameter blocks |
| // which have non-trivial bounds constraints. |
| bool IsBoundsConstrained() const; |
| |
| // Returns false, if the program has any constant parameter blocks |
| // which are not feasible, or any variable parameter blocks which |
| // have a lower bound greater than or equal to the upper bound. |
| bool IsFeasible(std::string* message) const; |
| |
| // Loop over each residual block and ensure that no two parameter |
| // blocks in the same residual block are part of |
| // parameter_blocks as that would violate the assumption that it |
| // is an independent set in the Hessian matrix. |
| bool IsParameterBlockSetIndependent( |
| const std::set<double*>& independent_set) const; |
| |
| // Create a TripletSparseMatrix which contains the zero-one |
| // structure corresponding to the block sparsity of the transpose of |
| // the Jacobian matrix. |
| // |
| // start_residual_block which allows the user to ignore the first |
| // start_residual_block residuals. |
| std::unique_ptr<TripletSparseMatrix> CreateJacobianBlockSparsityTranspose( |
| int start_residual_block = 0) const; |
| |
| // Create a copy of this program and removes constant parameter |
| // blocks and residual blocks with no varying parameter blocks while |
| // preserving their relative order. |
| // |
| // removed_parameter_blocks on exit will contain the list of |
| // parameter blocks that were removed. |
| // |
| // fixed_cost will be equal to the sum of the costs of the residual |
| // blocks that were removed. |
| // |
| // If there was a problem, then the function will return a nullptr |
| // pointer and error will contain a human readable description of |
| // the problem. |
| std::unique_ptr<Program> CreateReducedProgram( |
| std::vector<double*>* removed_parameter_blocks, |
| double* fixed_cost, |
| std::string* error) const; |
| |
| // See problem.h for what these do. |
| int NumParameterBlocks() const; |
| int NumParameters() const; |
| int NumEffectiveParameters() const; |
| int NumResidualBlocks() const; |
| int NumResiduals() const; |
| |
| int MaxScratchDoublesNeededForEvaluate() const; |
| int MaxDerivativesPerResidualBlock() const; |
| int MaxParametersPerResidualBlock() const; |
| int MaxResidualsPerResidualBlock() const; |
| |
| // A human-readable dump of the parameter blocks for debugging. |
| // TODO(keir): If necessary, also dump the residual blocks. |
| std::string ToString() const; |
| |
| private: |
| // Remove constant parameter blocks and residual blocks with no |
| // varying parameter blocks while preserving their relative order. |
| // |
| // removed_parameter_blocks on exit will contain the list of |
| // parameter blocks that were removed. |
| // |
| // fixed_cost will be equal to the sum of the costs of the residual |
| // blocks that were removed. |
| // |
| // If there was a problem, then the function will return false and |
| // error will contain a human readable description of the problem. |
| bool RemoveFixedBlocks(std::vector<double*>* removed_parameter_blocks, |
| double* fixed_cost, |
| std::string* message); |
| |
| // The Program does not own the ParameterBlock or ResidualBlock objects. |
| std::vector<ParameterBlock*> parameter_blocks_; |
| std::vector<ResidualBlock*> residual_blocks_; |
| EvaluationCallback* evaluation_callback_ = nullptr; |
| |
| friend class ProblemImpl; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_PROGRAM_H_ |