| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2021 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) |
| // |
| // This is the implementation of the public Problem API. The pointer to |
| // implementation (PIMPL) idiom makes it possible for Ceres internal code to |
| // refer to the private data members without needing to exposing it to the |
| // world. An alternative to PIMPL is to have a factory which returns instances |
| // of a virtual base class; while that approach would work, it requires clients |
| // to always put a Problem object into a scoped pointer; this needlessly muddies |
| // client code for little benefit. Therefore, the PIMPL comprise was chosen. |
| |
| #ifndef CERES_PUBLIC_PROBLEM_IMPL_H_ |
| #define CERES_PUBLIC_PROBLEM_IMPL_H_ |
| |
| #include <array> |
| #include <map> |
| #include <memory> |
| #include <unordered_map> |
| #include <unordered_set> |
| #include <vector> |
| |
| #include "ceres/context_impl.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/internal/port.h" |
| #include "ceres/manifold.h" |
| #include "ceres/problem.h" |
| #include "ceres/types.h" |
| |
| namespace ceres { |
| |
| class CostFunction; |
| class EvaluationCallback; |
| class LossFunction; |
| class LocalParameterization; |
| struct CRSMatrix; |
| |
| namespace internal { |
| |
| class Program; |
| class ResidualBlock; |
| |
| class CERES_NO_EXPORT ProblemImpl { |
| public: |
| using ParameterMap = std::map<double*, ParameterBlock*>; |
| using ResidualBlockSet = std::unordered_set<ResidualBlock*>; |
| using CostFunctionRefCount = std::map<CostFunction*, int>; |
| using LossFunctionRefCount = std::map<LossFunction*, int>; |
| |
| ProblemImpl(); |
| explicit ProblemImpl(const Problem::Options& options); |
| ProblemImpl(const ProblemImpl&) = delete; |
| void operator=(const ProblemImpl&) = delete; |
| |
| ~ProblemImpl(); |
| |
| // See the public problem.h file for description of these methods. |
| ResidualBlockId AddResidualBlock(CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* const* const parameter_blocks, |
| int num_parameter_blocks); |
| |
| template <typename... Ts> |
| ResidualBlockId AddResidualBlock(CostFunction* cost_function, |
| LossFunction* loss_function, |
| double* x0, |
| Ts*... xs) { |
| const std::array<double*, sizeof...(Ts) + 1> parameter_blocks{{x0, xs...}}; |
| return AddResidualBlock(cost_function, |
| loss_function, |
| parameter_blocks.data(), |
| static_cast<int>(parameter_blocks.size())); |
| } |
| |
| void AddParameterBlock(double* values, int size); |
| void AddParameterBlock(double* values, |
| int size, |
| LocalParameterization* local_parameterization); |
| |
| void AddParameterBlock(double* values, int size, Manifold* manifold); |
| |
| void RemoveResidualBlock(ResidualBlock* residual_block); |
| void RemoveParameterBlock(const double* values); |
| |
| void SetParameterBlockConstant(const double* values); |
| void SetParameterBlockVariable(double* values); |
| bool IsParameterBlockConstant(const double* values) const; |
| |
| void SetParameterization(double* values, |
| LocalParameterization* local_parameterization); |
| const LocalParameterization* GetParameterization(const double* values) const; |
| bool HasParameterization(const double* values) const; |
| |
| void SetManifold(double* values, Manifold* manifold); |
| const Manifold* GetManifold(const double* values) const; |
| bool HasManifold(const double* values) const; |
| |
| void SetParameterLowerBound(double* values, int index, double lower_bound); |
| void SetParameterUpperBound(double* values, int index, double upper_bound); |
| double GetParameterLowerBound(const double* values, int index) const; |
| double GetParameterUpperBound(const double* values, int index) const; |
| |
| bool Evaluate(const Problem::EvaluateOptions& options, |
| double* cost, |
| std::vector<double>* residuals, |
| std::vector<double>* gradient, |
| CRSMatrix* jacobian); |
| |
| bool EvaluateResidualBlock(ResidualBlock* residual_block, |
| bool apply_loss_function, |
| bool new_point, |
| double* cost, |
| double* residuals, |
| double** jacobians) const; |
| |
| int NumParameterBlocks() const; |
| int NumParameters() const; |
| int NumResidualBlocks() const; |
| int NumResiduals() const; |
| |
| int ParameterBlockSize(const double* values) const; |
| int ParameterBlockTangentSize(const double* values) const; |
| |
| bool HasParameterBlock(const double* values) const; |
| |
| void GetParameterBlocks(std::vector<double*>* parameter_blocks) const; |
| void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const; |
| |
| void GetParameterBlocksForResidualBlock( |
| const ResidualBlockId residual_block, |
| std::vector<double*>* parameter_blocks) const; |
| |
| const CostFunction* GetCostFunctionForResidualBlock( |
| const ResidualBlockId residual_block) const; |
| const LossFunction* GetLossFunctionForResidualBlock( |
| const ResidualBlockId residual_block) const; |
| |
| void GetResidualBlocksForParameterBlock( |
| const double* values, |
| std::vector<ResidualBlockId>* residual_blocks) const; |
| |
| const Program& program() const { return *program_; } |
| Program* mutable_program() { return program_.get(); } |
| |
| const ParameterMap& parameter_map() const { return parameter_block_map_; } |
| const ResidualBlockSet& residual_block_set() const { |
| CHECK(options_.enable_fast_removal) |
| << "Fast removal not enabled, residual_block_set is not maintained."; |
| return residual_block_set_; |
| } |
| |
| ContextImpl* context() { return context_impl_; } |
| |
| private: |
| ParameterBlock* InternalAddParameterBlock(double* values, int size); |
| void InternalSetParameterization( |
| double* values, |
| ParameterBlock* parameter_block, |
| LocalParameterization* local_parameterization); |
| void InternalSetManifold(double* values, |
| ParameterBlock* parameter_block, |
| Manifold* manifold); |
| |
| void InternalRemoveResidualBlock(ResidualBlock* residual_block); |
| |
| // Delete the arguments in question. These differ from the Remove* functions |
| // in that they do not clean up references to the block to delete; they |
| // merely delete them. |
| template <typename Block> |
| void DeleteBlockInVector(std::vector<Block*>* mutable_blocks, |
| Block* block_to_remove); |
| void DeleteBlock(ResidualBlock* residual_block); |
| void DeleteBlock(ParameterBlock* parameter_block); |
| |
| const Problem::Options options_; |
| |
| bool context_impl_owned_; |
| ContextImpl* context_impl_; |
| |
| // The mapping from user pointers to parameter blocks. |
| ParameterMap parameter_block_map_; |
| |
| // Iff enable_fast_removal is enabled, contains the current residual blocks. |
| ResidualBlockSet residual_block_set_; |
| |
| // The actual parameter and residual blocks. |
| std::unique_ptr<internal::Program> program_; |
| |
| // TODO(sameeragarwal): Unify the shared object handling across object types. |
| // Right now we are using vectors for LocalParameterization and Manifold |
| // objects and reference counting for CostFunctions and LossFunctions. Ideally |
| // this should be done uniformly. |
| |
| // When removing parameter blocks, parameterizations have ambiguous |
| // ownership. Instead of scanning the entire problem to see if the |
| // parameterization is shared with other parameter blocks, buffer |
| // them until destruction. |
| std::vector<LocalParameterization*> local_parameterizations_to_delete_; |
| |
| // When removing parameter blocks, manifolds have ambiguous |
| // ownership. Instead of scanning the entire problem to see if the |
| // manifold is shared with other parameter blocks, buffer |
| // them until destruction. |
| std::vector<Manifold*> manifolds_to_delete_; |
| |
| // For each cost function and loss function in the problem, a count |
| // of the number of residual blocks that refer to them. When the |
| // count goes to zero and the problem owns these objects, they are |
| // destroyed. |
| CostFunctionRefCount cost_function_ref_count_; |
| LossFunctionRefCount loss_function_ref_count_; |
| |
| // Because we wrap LocalParameterization objects using a ManifoldAdapter, when |
| // the user calls GetParameterization we cannot use the same logic as |
| // GetManifold as the ParameterBlock object only returns a Manifold object. So |
| // this map stores the association between parameter blocks and local |
| // parameterizations. |
| // |
| // This is a temporary object which will be removed once the |
| // LocalParameterization to Manifold transition is complete. |
| std::unordered_map<const double*, LocalParameterization*> |
| parameter_block_to_local_param_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_PUBLIC_PROBLEM_IMPL_H_ |