| // 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: sameeragarwal@google.com (Sameer Agarwal) |
| // mierle@gmail.com (Keir Mierle) |
| |
| #include "ceres/problem_impl.h" |
| |
| #include <algorithm> |
| #include <cstddef> |
| #include <iterator> |
| #include <set> |
| #include <string> |
| #include <utility> |
| #include <vector> |
| #include "ceres/casts.h" |
| #include "ceres/compressed_row_sparse_matrix.h" |
| #include "ceres/cost_function.h" |
| #include "ceres/crs_matrix.h" |
| #include "ceres/evaluator.h" |
| #include "ceres/loss_function.h" |
| #include "ceres/map_util.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/program.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/stl_util.h" |
| #include "ceres/stringprintf.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| using std::map; |
| using std::string; |
| using std::vector; |
| typedef std::map<double*, internal::ParameterBlock*> ParameterMap; |
| |
| 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 << "."; |
| } |
| |
| } // namespace |
| |
| ParameterBlock* ProblemImpl::InternalAddParameterBlock(double* values, |
| int size) { |
| CHECK(values != NULL) << "Null pointer passed to AddParameterBlock " |
| << "for a parameter with size " << size; |
| |
| // Ignore the request if there is a block for the given pointer already. |
| ParameterMap::iterator 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()) { |
| ParameterMap::iterator 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()) { |
| ParameterMap::iterator 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. |
| ParameterBlock* 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_NOTNULL(residual_block); |
| // 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); |
| } |
| |
| ResidualBlockSet::iterator 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. |
| if (options_.cost_function_ownership == TAKE_OWNERSHIP && |
| residual_block->cost_function() != NULL) { |
| cost_functions_to_delete_.push_back( |
| const_cast<CostFunction*>(residual_block->cost_function())); |
| } |
| if (options_.loss_function_ownership == TAKE_OWNERSHIP && |
| residual_block->loss_function() != NULL) { |
| loss_functions_to_delete_.push_back( |
| const_cast<LossFunction*>(residual_block->loss_function())); |
| } |
| 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). |
| // Referenced parameterizations 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(ParameterBlock* parameter_block) { |
| if (options_.local_parameterization_ownership == TAKE_OWNERSHIP && |
| parameter_block->local_parameterization() != NULL) { |
| local_parameterizations_to_delete_.push_back( |
| parameter_block->mutable_local_parameterization()); |
| } |
| parameter_block_map_.erase(parameter_block->mutable_user_state()); |
| delete parameter_block; |
| } |
| |
| ProblemImpl::ProblemImpl() : program_(new internal::Program) {} |
| ProblemImpl::ProblemImpl(const Problem::Options& options) |
| : options_(options), |
| program_(new internal::Program) {} |
| |
| ProblemImpl::~ProblemImpl() { |
| // Collect the unique cost/loss functions and delete the residuals. |
| const int num_residual_blocks = program_->residual_blocks_.size(); |
| cost_functions_to_delete_.reserve(num_residual_blocks); |
| loss_functions_to_delete_.reserve(num_residual_blocks); |
| for (int i = 0; i < program_->residual_blocks_.size(); ++i) { |
| DeleteBlock(program_->residual_blocks_[i]); |
| } |
| |
| // Collect the unique parameterizations and delete the parameters. |
| for (int i = 0; i < program_->parameter_blocks_.size(); ++i) { |
| DeleteBlock(program_->parameter_blocks_[i]); |
| } |
| |
| // Delete the owned cost/loss functions and parameterizations. |
| STLDeleteUniqueContainerPointers(local_parameterizations_to_delete_.begin(), |
| local_parameterizations_to_delete_.end()); |
| STLDeleteUniqueContainerPointers(cost_functions_to_delete_.begin(), |
| cost_functions_to_delete_.end()); |
| STLDeleteUniqueContainerPointers(loss_functions_to_delete_.begin(), |
| loss_functions_to_delete_.end()); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| const vector<double*>& parameter_blocks) { |
| CHECK_NOTNULL(cost_function); |
| CHECK_EQ(parameter_blocks.size(), |
| cost_function->parameter_block_sizes().size()); |
| |
| // Check the sizes match. |
| const vector<int32>& parameter_block_sizes = |
| cost_function->parameter_block_sizes(); |
| |
| if (!options_.disable_all_safety_checks) { |
| CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size()) |
| << "Number of blocks input is different than the number of blocks " |
| << "that the cost function expects."; |
| |
| // Check for duplicate parameter blocks. |
| vector<double*> sorted_parameter_blocks(parameter_blocks); |
| 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) { |
| string blocks; |
| for (int i = 0; i < parameter_blocks.size(); ++i) { |
| blocks += StringPrintf(" %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. |
| vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size()); |
| for (int i = 0; i < parameter_blocks.size(); ++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(); |
| } |
| } |
| |
| ResidualBlock* 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 < parameter_blocks.size(); ++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); |
| } |
| |
| return new_residual_block; |
| } |
| |
| // Unfortunately, macros don't help much to reduce this code, and var args don't |
| // work because of the ambiguous case that there is no loss function. |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| residual_parameters.push_back(x5); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, |
| double* x6) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| residual_parameters.push_back(x5); |
| residual_parameters.push_back(x6); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, |
| double* x6, double* x7) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| residual_parameters.push_back(x5); |
| residual_parameters.push_back(x6); |
| residual_parameters.push_back(x7); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, |
| double* x6, double* x7, double* x8) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| residual_parameters.push_back(x5); |
| residual_parameters.push_back(x6); |
| residual_parameters.push_back(x7); |
| residual_parameters.push_back(x8); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| ResidualBlock* ProblemImpl::AddResidualBlock( |
| CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, |
| double* x6, double* x7, double* x8, double* x9) { |
| vector<double*> residual_parameters; |
| residual_parameters.push_back(x0); |
| residual_parameters.push_back(x1); |
| residual_parameters.push_back(x2); |
| residual_parameters.push_back(x3); |
| residual_parameters.push_back(x4); |
| residual_parameters.push_back(x5); |
| residual_parameters.push_back(x6); |
| residual_parameters.push_back(x7); |
| residual_parameters.push_back(x8); |
| residual_parameters.push_back(x9); |
| return AddResidualBlock(cost_function, loss_function, residual_parameters); |
| } |
| |
| void ProblemImpl::AddParameterBlock(double* values, int size) { |
| InternalAddParameterBlock(values, size); |
| } |
| |
| void ProblemImpl::AddParameterBlock( |
| double* values, |
| int size, |
| LocalParameterization* local_parameterization) { |
| ParameterBlock* parameter_block = |
| InternalAddParameterBlock(values, size); |
| if (local_parameterization != NULL) { |
| parameter_block->SetParameterization(local_parameterization); |
| } |
| } |
| |
| // 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(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_NOTNULL(residual_block); |
| |
| // Verify that residual_block identifies a residual in the current problem. |
| const string residual_not_found_message = |
| StringPrintf("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(double* values) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| if (parameter_block == NULL) { |
| 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(). |
| vector<ResidualBlock*> residual_blocks_to_remove( |
| parameter_block->mutable_residual_blocks()->begin(), |
| parameter_block->mutable_residual_blocks()->end()); |
| for (int i = 0; i < residual_blocks_to_remove.size(); ++i) { |
| InternalRemoveResidualBlock(residual_blocks_to_remove[i]); |
| } |
| } 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(double* values) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| if (parameter_block == NULL) { |
| 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(double* values) const { |
| const ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| CHECK(parameter_block != NULL) |
| << "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, NULL); |
| if (parameter_block == NULL) { |
| 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::SetParameterization( |
| double* values, |
| LocalParameterization* local_parameterization) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| if (parameter_block == NULL) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can set its local parameterization."; |
| } |
| |
| parameter_block->SetParameterization(local_parameterization); |
| } |
| |
| const LocalParameterization* ProblemImpl::GetParameterization( |
| double* values) const { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| if (parameter_block == NULL) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get its local parameterization."; |
| } |
| |
| return parameter_block->local_parameterization(); |
| } |
| |
| void ProblemImpl::SetParameterLowerBound(double* values, |
| int index, |
| double lower_bound) { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, values, NULL); |
| if (parameter_block == NULL) { |
| 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, NULL); |
| if (parameter_block == NULL) { |
| 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); |
| } |
| |
| bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options, |
| double* cost, |
| vector<double>* residuals, |
| vector<double>* gradient, |
| CRSMatrix* jacobian) { |
| if (cost == NULL && |
| residuals == NULL && |
| gradient == NULL && |
| jacobian == NULL) { |
| LOG(INFO) << "Nothing to do."; |
| 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 vector<double*>& parameter_block_ptrs = |
| evaluate_options.parameter_blocks; |
| |
| vector<ParameterBlock*> variable_parameter_blocks; |
| 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], |
| NULL); |
| if (parameter_blocks[i] == NULL) { |
| 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. |
| vector<ParameterBlock*> all_parameter_blocks(program_->parameter_blocks()); |
| vector<ParameterBlock*> included_parameter_blocks( |
| program.parameter_blocks()); |
| |
| vector<ParameterBlock*> excluded_parameter_blocks; |
| sort(all_parameter_blocks.begin(), all_parameter_blocks.end()); |
| 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 (int i = 0; i < excluded_parameter_blocks.size(); ++i) { |
| ParameterBlock* parameter_block = excluded_parameter_blocks[i]; |
| 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 SuiteSparse or |
| // CXSparse, 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; |
| #ifndef CERES_USE_OPENMP |
| LOG_IF(WARNING, evaluate_options.num_threads > 1) |
| << "OpenMP support is not compiled into this binary; " |
| << "only evaluate_options.num_threads = 1 is supported. Switching " |
| << "to single threaded mode."; |
| evaluator_options.num_threads = 1; |
| #else |
| evaluator_options.num_threads = evaluate_options.num_threads; |
| #endif // CERES_USE_OPENMP |
| |
| string error; |
| scoped_ptr<Evaluator> evaluator( |
| Evaluator::Create(evaluator_options, &program, &error)); |
| if (evaluator.get() == NULL) { |
| LOG(ERROR) << "Unable to create an Evaluator object. " |
| << "Error: " << error |
| << "This is a Ceres bug; please contact the developers!"; |
| |
| // Make the parameter blocks that were temporarily marked |
| // constant, variable again. |
| for (int i = 0; i < variable_parameter_blocks.size(); ++i) { |
| variable_parameter_blocks[i]->SetVarying(); |
| } |
| |
| program_->SetParameterBlockStatePtrsToUserStatePtrs(); |
| program_->SetParameterOffsetsAndIndex(); |
| return false; |
| } |
| |
| if (residuals !=NULL) { |
| residuals->resize(evaluator->NumResiduals()); |
| } |
| |
| if (gradient != NULL) { |
| gradient->resize(evaluator->NumEffectiveParameters()); |
| } |
| |
| scoped_ptr<CompressedRowSparseMatrix> tmp_jacobian; |
| if (jacobian != NULL) { |
| tmp_jacobian.reset( |
| down_cast<CompressedRowSparseMatrix*>(evaluator->CreateJacobian())); |
| } |
| |
| // 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 != NULL ? &(*residuals)[0] : NULL, |
| gradient != NULL ? &(*gradient)[0] : NULL, |
| tmp_jacobian.get()); |
| |
| // Make the parameter blocks that were temporarily marked constant, |
| // variable again. |
| for (int i = 0; i < variable_parameter_blocks.size(); ++i) { |
| variable_parameter_blocks[i]->SetVarying(); |
| } |
| |
| if (status) { |
| if (cost != NULL) { |
| *cost = tmp_cost; |
| } |
| if (jacobian != NULL) { |
| tmp_jacobian->ToCRSMatrix(jacobian); |
| } |
| } |
| |
| program_->SetParameterBlockStatePtrsToUserStatePtrs(); |
| program_->SetParameterOffsetsAndIndex(); |
| return status; |
| } |
| |
| 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), NULL); |
| if (parameter_block == NULL) { |
| 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::ParameterBlockLocalSize(const double* values) const { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL); |
| if (parameter_block == NULL) { |
| LOG(FATAL) << "Parameter block not found: " << values |
| << ". You must add the parameter block to the problem before " |
| << "you can get its local size."; |
| } |
| |
| return parameter_block->LocalSize(); |
| } |
| |
| bool ProblemImpl::HasParameterBlock(const double* parameter_block) const { |
| return (parameter_block_map_.find(const_cast<double*>(parameter_block)) != |
| parameter_block_map_.end()); |
| } |
| |
| void ProblemImpl::GetParameterBlocks(vector<double*>* parameter_blocks) const { |
| CHECK_NOTNULL(parameter_blocks); |
| parameter_blocks->resize(0); |
| for (ParameterMap::const_iterator it = parameter_block_map_.begin(); |
| it != parameter_block_map_.end(); |
| ++it) { |
| parameter_blocks->push_back(it->first); |
| } |
| } |
| |
| void ProblemImpl::GetResidualBlocks( |
| vector<ResidualBlockId>* residual_blocks) const { |
| CHECK_NOTNULL(residual_blocks); |
| *residual_blocks = program().residual_blocks(); |
| } |
| |
| void ProblemImpl::GetParameterBlocksForResidualBlock( |
| const ResidualBlockId residual_block, |
| vector<double*>* parameter_blocks) const { |
| int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| CHECK_NOTNULL(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, |
| vector<ResidualBlockId>* residual_blocks) const { |
| ParameterBlock* parameter_block = |
| FindWithDefault(parameter_block_map_, const_cast<double*>(values), NULL); |
| if (parameter_block == NULL) { |
| 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_NOTNULL(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_NOTNULL(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 internal |
| } // namespace ceres |
