| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2019 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: mierle@gmail.com (Keir Mierle) |
| // sameeragarwal@google.com (Sameer Agarwal) |
| // thadh@gmail.com (Thad Hughes) |
| // tbennun@gmail.com (Tal Ben-Nun) |
| |
| #ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ |
| #define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ |
| |
| #include <cmath> |
| #include <memory> |
| #include <numeric> |
| #include <vector> |
| |
| #include "ceres/dynamic_cost_function.h" |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/numeric_diff.h" |
| #include "ceres/internal/parameter_dims.h" |
| #include "ceres/numeric_diff_options.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| |
| // This numeric diff implementation differs from the one found in |
| // numeric_diff_cost_function.h by supporting numericdiff on cost |
| // functions with variable numbers of parameters with variable |
| // sizes. With the other implementation, all the sizes (both the |
| // number of parameter blocks and the size of each block) must be |
| // fixed at compile time. |
| // |
| // The functor API differs slightly from the API for fixed size |
| // numeric diff; the expected interface for the cost functors is: |
| // |
| // struct MyCostFunctor { |
| // bool operator()(double const* |
| // const* parameters, |
| // double* residuals) const { |
| // // Use parameters[i] to access the i'th parameter block. |
| // } |
| // } |
| // |
| // Since the sizing of the parameters is done at runtime, you must |
| // also specify the sizes after creating the |
| // DynamicNumericDiffCostFunction. For example: |
| // |
| // DynamicAutoDiffCostFunction<MyCostFunctor, CENTRAL> cost_function( |
| // new MyCostFunctor()); |
| // cost_function.AddParameterBlock(5); |
| // cost_function.AddParameterBlock(10); |
| // cost_function.SetNumResiduals(21); |
| template <typename CostFunctor, NumericDiffMethodType method = CENTRAL> |
| class DynamicNumericDiffCostFunction final : public DynamicCostFunction { |
| public: |
| explicit DynamicNumericDiffCostFunction( |
| const CostFunctor* functor, |
| Ownership ownership = TAKE_OWNERSHIP, |
| const NumericDiffOptions& options = NumericDiffOptions()) |
| : functor_(functor), ownership_(ownership), options_(options) {} |
| |
| DynamicNumericDiffCostFunction(DynamicNumericDiffCostFunction&& other) |
| : functor_(std::move(other.functor_)), ownership_(other.ownership_) {} |
| |
| ~DynamicNumericDiffCostFunction() override { |
| if (ownership_ != TAKE_OWNERSHIP) { |
| functor_.release(); |
| } |
| } |
| |
| bool Evaluate(double const* const* parameters, |
| double* residuals, |
| double** jacobians) const override { |
| using internal::NumericDiff; |
| CHECK_GT(num_residuals(), 0) |
| << "You must call DynamicNumericDiffCostFunction::SetNumResiduals() " |
| << "before DynamicNumericDiffCostFunction::Evaluate()."; |
| |
| const std::vector<int32_t>& block_sizes = parameter_block_sizes(); |
| CHECK(!block_sizes.empty()) |
| << "You must call DynamicNumericDiffCostFunction::AddParameterBlock() " |
| << "before DynamicNumericDiffCostFunction::Evaluate()."; |
| |
| const bool status = |
| internal::VariadicEvaluate<internal::DynamicParameterDims>( |
| *functor_.get(), parameters, residuals); |
| if (jacobians == nullptr || !status) { |
| return status; |
| } |
| |
| // Create local space for a copy of the parameters which will get mutated. |
| int parameters_size = accumulate(block_sizes.begin(), block_sizes.end(), 0); |
| std::vector<double> parameters_copy(parameters_size); |
| std::vector<double*> parameters_references_copy(block_sizes.size()); |
| parameters_references_copy[0] = ¶meters_copy[0]; |
| for (size_t block = 1; block < block_sizes.size(); ++block) { |
| parameters_references_copy[block] = |
| parameters_references_copy[block - 1] + block_sizes[block - 1]; |
| } |
| |
| // Copy the parameters into the local temp space. |
| for (size_t block = 0; block < block_sizes.size(); ++block) { |
| memcpy(parameters_references_copy[block], |
| parameters[block], |
| block_sizes[block] * sizeof(*parameters[block])); |
| } |
| |
| for (size_t block = 0; block < block_sizes.size(); ++block) { |
| if (jacobians[block] != nullptr && |
| !NumericDiff<CostFunctor, |
| method, |
| ceres::DYNAMIC, |
| internal::DynamicParameterDims, |
| ceres::DYNAMIC, |
| ceres::DYNAMIC>:: |
| EvaluateJacobianForParameterBlock(functor_.get(), |
| residuals, |
| options_, |
| this->num_residuals(), |
| block, |
| block_sizes[block], |
| ¶meters_references_copy[0], |
| jacobians[block])) { |
| return false; |
| } |
| } |
| return true; |
| } |
| |
| private: |
| std::unique_ptr<const CostFunctor> functor_; |
| Ownership ownership_; |
| NumericDiffOptions options_; |
| }; |
| |
| } // namespace ceres |
| |
| #endif // CERES_PUBLIC_DYNAMIC_AUTODIFF_COST_FUNCTION_H_ |