Move LineManifold and SphereManifold into their own headers.
Previously they were defined in manifold.h but their implementations
were in the internal directory and to prevent circular dependencies
the implementation headers were pushed to the bottom of manifold.h
This started out as one header and has become progressively worse
as more manifolds are templated.
This change moves the two manifolds into their own headers which
also contain their implementations.
Change-Id: I671da0279a47cd2ff1f52c69a1d159426f55bd80
diff --git a/include/ceres/ceres.h b/include/ceres/ceres.h
index 8827b30..b67b5e6 100644
--- a/include/ceres/ceres.h
+++ b/include/ceres/ceres.h
@@ -55,6 +55,7 @@
#include "ceres/gradient_problem_solver.h"
#include "ceres/iteration_callback.h"
#include "ceres/jet.h"
+#include "ceres/line_manifold.h"
#include "ceres/local_parameterization.h"
#include "ceres/loss_function.h"
#include "ceres/manifold.h"
@@ -65,6 +66,7 @@
#include "ceres/problem.h"
#include "ceres/sized_cost_function.h"
#include "ceres/solver.h"
+#include "ceres/sphere_manifold.h"
#include "ceres/types.h"
#include "ceres/version.h"
diff --git a/include/ceres/internal/sphere_manifold.h b/include/ceres/internal/sphere_manifold.h
deleted file mode 100644
index 1400228..0000000
--- a/include/ceres/internal/sphere_manifold.h
+++ /dev/null
@@ -1,135 +0,0 @@
-// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2022 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: vitus@google.com (Mike Vitus)
-// jodebo_beck@gmx.de (Johannes Beck)
-
-#ifndef CERES_PUBLIC_INTERNAL_SPHERE_MANIFOLD_H_
-#define CERES_PUBLIC_INTERNAL_SPHERE_MANIFOLD_H_
-
-#include "ceres/internal/householder_vector.h"
-#include "ceres/internal/sphere_manifold_functions.h"
-
-namespace ceres {
-
-template <int AmbientSpaceDimension>
-SphereManifold<AmbientSpaceDimension>::SphereManifold()
- : size_{AmbientSpaceDimension} {
- static_assert(
- AmbientSpaceDimension != Eigen::Dynamic,
- "The size is set to dynamic. Please call the constructor with a size.");
-}
-
-template <int AmbientSpaceDimension>
-SphereManifold<AmbientSpaceDimension>::SphereManifold(int size) : size_{size} {
- if (AmbientSpaceDimension != Eigen::Dynamic) {
- CHECK_EQ(AmbientSpaceDimension, size)
- << "Specified size by template parameter differs from the supplied "
- "one.";
- } else {
- CHECK_GT(size_, 1)
- << "The size of the manifold needs to be greater than 1.";
- }
-}
-
-template <int AmbientSpaceDimension>
-bool SphereManifold<AmbientSpaceDimension>::Plus(
- const double* x_ptr,
- const double* delta_ptr,
- double* x_plus_delta_ptr) const {
- Eigen::Map<const AmbientVector> x(x_ptr, size_);
- Eigen::Map<const TangentVector> delta(delta_ptr, size_ - 1);
- Eigen::Map<AmbientVector> x_plus_delta(x_plus_delta_ptr, size_);
-
- const double norm_delta = delta.norm();
-
- if (norm_delta == 0.0) {
- x_plus_delta = x;
- return true;
- }
-
- AmbientVector v(size_);
- double beta;
-
- // NOTE: The explicit template arguments are needed here because
- // ComputeHouseholderVector is templated and some versions of MSVC
- // have trouble deducing the type of v automatically.
- internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
- double,
- AmbientSpaceDimension>(x, &v, &beta);
-
- internal::ComputeSphereManifoldPlus(
- v, beta, x, delta, norm_delta, &x_plus_delta);
-
- return true;
-}
-
-template <int AmbientSpaceDimension>
-bool SphereManifold<AmbientSpaceDimension>::PlusJacobian(
- const double* x_ptr, double* jacobian_ptr) const {
- Eigen::Map<const AmbientVector> x(x_ptr, size_);
- Eigen::Map<MatrixPlusJacobian> jacobian(jacobian_ptr, size_, size_ - 1);
- internal::ComputeSphereManifoldPlusJacobian(x, &jacobian);
-
- return true;
-}
-
-template <int AmbientSpaceDimension>
-bool SphereManifold<AmbientSpaceDimension>::Minus(const double* y_ptr,
- const double* x_ptr,
- double* y_minus_x_ptr) const {
- AmbientVector y = Eigen::Map<const AmbientVector>(y_ptr, size_);
- Eigen::Map<const AmbientVector> x(x_ptr, size_);
- Eigen::Map<TangentVector> y_minus_x(y_minus_x_ptr, size_ - 1);
-
- // Apply hoseholder transformation.
- AmbientVector v(size_);
- double beta;
-
- // NOTE: The explicit template arguments are needed here because
- // ComputeHouseholderVector is templated and some versions of MSVC
- // have trouble deducing the type of v automatically.
- internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
- double,
- AmbientSpaceDimension>(x, &v, &beta);
- internal::ComputeSphereManifoldMinus(v, beta, x, y, &y_minus_x);
- return true;
-}
-
-template <int AmbientSpaceDimension>
-bool SphereManifold<AmbientSpaceDimension>::MinusJacobian(
- const double* x_ptr, double* jacobian_ptr) const {
- Eigen::Map<const AmbientVector> x(x_ptr, size_);
- Eigen::Map<MatrixMinusJacobian> jacobian(jacobian_ptr, size_ - 1, size_);
-
- internal::ComputeSphereManifoldMinusJacobian(x, &jacobian);
- return true;
-}
-} // namespace ceres
-
-#endif
diff --git a/include/ceres/internal/line_manifold.h b/include/ceres/line_manifold.h
similarity index 70%
rename from include/ceres/internal/line_manifold.h
rename to include/ceres/line_manifold.h
index aa275e2..f8f1b23 100644
--- a/include/ceres/internal/line_manifold.h
+++ b/include/ceres/line_manifold.h
@@ -29,13 +29,94 @@
// Author: jodebo_beck@gmx.de (Johannes Beck)
//
-#ifndef CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
-#define CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
+#ifndef CERES_PUBLIC_LINE_MANIFOLD_H_
+#define CERES_PUBLIC_LINE_MANIFOLD_H_
+#include <Eigen/Core>
+#include <algorithm>
+#include <array>
+#include <memory>
+#include <vector>
+
+#include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/export.h"
#include "ceres/internal/householder_vector.h"
#include "ceres/internal/sphere_manifold_functions.h"
+#include "ceres/manifold.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
namespace ceres {
+// This provides a manifold for lines, where the line is
+// over-parameterized by an origin point and a direction vector. So the
+// parameter vector size needs to be two times the ambient space dimension,
+// where the first half is interpreted as the origin point and the second half
+// as the direction.
+//
+// The plus operator for the line direction is the same as for the
+// SphereManifold. The update of the origin point is
+// perpendicular to the line direction before the update.
+//
+// This manifold is a special case of the affine Grassmannian
+// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
+// for the case Graff_1(R^n).
+//
+// The class works with dynamic and static ambient space dimensions. If the
+// ambient space dimensions is known at compile time use
+//
+// LineManifold<3> manifold;
+//
+// If the ambient space dimensions is not known at compile time the template
+// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
+// to be provided as a constructor argument:
+//
+// LineManifold<ceres::DYNAMIC> manifold(ambient_dim);
+//
+template <int AmbientSpaceDimension>
+class LineManifold final : public Manifold {
+ public:
+ static_assert(AmbientSpaceDimension == DYNAMIC || AmbientSpaceDimension >= 2,
+ "The ambient space must be at least 2.");
+ static_assert(ceres::DYNAMIC == Eigen::Dynamic,
+ "ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
+
+ LineManifold();
+ explicit LineManifold(int size);
+
+ int AmbientSize() const override { return 2 * size_; }
+ int TangentSize() const override { return 2 * (size_ - 1); }
+ bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const override;
+ bool PlusJacobian(const double* x, double* jacobian) const override;
+ bool Minus(const double* y,
+ const double* x,
+ double* y_minus_x) const override;
+ bool MinusJacobian(const double* x, double* jacobian) const override;
+
+ private:
+ static constexpr bool IsDynamic = (AmbientSpaceDimension == ceres::DYNAMIC);
+ static constexpr int TangentSpaceDimension =
+ IsDynamic ? ceres::DYNAMIC : AmbientSpaceDimension - 1;
+
+ static constexpr int DAmbientSpaceDimension =
+ IsDynamic ? ceres::DYNAMIC : 2 * AmbientSpaceDimension;
+ static constexpr int DTangentSpaceDimension =
+ IsDynamic ? ceres::DYNAMIC : 2 * TangentSpaceDimension;
+
+ using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
+ using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
+ using MatrixPlusJacobian = Eigen::Matrix<double,
+ DAmbientSpaceDimension,
+ DTangentSpaceDimension,
+ Eigen::RowMajor>;
+ using MatrixMinusJacobian = Eigen::Matrix<double,
+ DTangentSpaceDimension,
+ DAmbientSpaceDimension,
+ Eigen::RowMajor>;
+
+ const int size_{AmbientSpaceDimension};
+};
template <int AmbientSpaceDimension>
LineManifold<AmbientSpaceDimension>::LineManifold()
@@ -216,4 +297,8 @@
} // namespace ceres
-#endif // CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
\ No newline at end of file
+// clang-format off
+#include "ceres/internal/reenable_warnings.h"
+// clang-format on
+
+#endif // CERES_PUBLIC_LINE_MANIFOLD_H_
diff --git a/include/ceres/manifold.h b/include/ceres/manifold.h
index 5c7af24..d50de7f 100644
--- a/include/ceres/manifold.h
+++ b/include/ceres/manifold.h
@@ -467,163 +467,10 @@
bool MinusJacobian(const double* x, double* jacobian) const override;
};
-// This provides a manifold on a sphere meaning that the norm of the vector
-// stays the same. Such cases often arises in Structure for Motion
-// problems. One example where they are used is in representing points whose
-// triangulation is ill-conditioned. Here it is advantageous to use an
-// over-parameterization since homogeneous vectors can represent points at
-// infinity.
-//
-// The plus operator is defined as
-// Plus(x, delta) =
-// [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
-//
-// The minus operator is defined as
-// Minus(x, y) = 2 atan2(nhy, y[-1]) / nhy * hy[0 : size_ - 1]
-// with nhy = norm(hy[0 : size_ - 1])
-//
-// with * defined as an operator which applies the update orthogonal to x to
-// remain on the sphere. The ambient space dimension is required to be greater
-// than 1.
-//
-// The class works with dynamic and static ambient space dimensions. If the
-// ambient space dimensions is known at compile time use
-//
-// SphereManifold<3> manifold;
-//
-// If the ambient space dimensions is not known at compile time the template
-// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
-// to be provided as a constructor argument:
-//
-// SphereManifold<ceres::DYNAMIC> manifold(ambient_dim);
-//
-// See section B.2 (p.25) in "Integrating Generic Sensor Fusion Algorithms
-// with Sound State Representations through Encapsulation of Manifolds" by C.
-// Hertzberg, R. Wagner, U. Frese and L. Schroder for more details
-// (https://arxiv.org/pdf/1107.1119.pdf)
-template <int AmbientSpaceDimension>
-class SphereManifold final : public Manifold {
- public:
- static_assert(
- AmbientSpaceDimension == ceres::DYNAMIC || AmbientSpaceDimension > 1,
- "The size of the homogeneous vector needs to be greater than 1.");
- static_assert(ceres::DYNAMIC == Eigen::Dynamic,
- "ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
-
- SphereManifold();
- explicit SphereManifold(int size);
-
- int AmbientSize() const override {
- return AmbientSpaceDimension == ceres::DYNAMIC ? size_
- : AmbientSpaceDimension;
- }
- int TangentSize() const override { return AmbientSize() - 1; }
-
- bool Plus(const double* x,
- const double* delta,
- double* x_plus_delta) const override;
- bool PlusJacobian(const double* x, double* jacobian) const override;
-
- bool Minus(const double* y,
- const double* x,
- double* y_minus_x) const override;
- bool MinusJacobian(const double* x, double* jacobian) const override;
-
- private:
- static constexpr int TangentSpaceDimension =
- AmbientSpaceDimension > 0 ? AmbientSpaceDimension - 1 : Eigen::Dynamic;
-
- using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
- using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
- using MatrixPlusJacobian = Eigen::Matrix<double,
- AmbientSpaceDimension,
- TangentSpaceDimension,
- Eigen::RowMajor>;
- using MatrixMinusJacobian = Eigen::Matrix<double,
- TangentSpaceDimension,
- AmbientSpaceDimension,
- Eigen::RowMajor>;
-
- const int size_{};
-};
-
-// This provides a manifold for lines, where the line is
-// over-parameterized by an origin point and a direction vector. So the
-// parameter vector size needs to be two times the ambient space dimension,
-// where the first half is interpreted as the origin point and the second half
-// as the direction.
-//
-// The plus operator for the line direction is the same as for the
-// SphereManifold. The update of the origin point is
-// perpendicular to the line direction before the update.
-//
-// This manifold is a special case of the affine Grassmannian
-// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
-// for the case Graff_1(R^n).
-//
-// The class works with dynamic and static ambient space dimensions. If the
-// ambient space dimensions is known at compile time use
-//
-// LineManifold<3> manifold;
-//
-// If the ambient space dimensions is not known at compile time the template
-// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
-// to be provided as a constructor argument:
-//
-// LineManifold<ceres::DYNAMIC> manifold(ambient_dim);
-//
-template <int AmbientSpaceDimension>
-class LineManifold final : public Manifold {
- public:
- static_assert(AmbientSpaceDimension == DYNAMIC || AmbientSpaceDimension >= 2,
- "The ambient space must be at least 2.");
- static_assert(ceres::DYNAMIC == Eigen::Dynamic,
- "ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
-
- LineManifold();
- explicit LineManifold(int size);
-
- int AmbientSize() const override { return 2 * size_; }
- int TangentSize() const override { return 2 * (size_ - 1); }
- bool Plus(const double* x,
- const double* delta,
- double* x_plus_delta) const override;
- bool PlusJacobian(const double* x, double* jacobian) const override;
- bool Minus(const double* y,
- const double* x,
- double* y_minus_x) const override;
- bool MinusJacobian(const double* x, double* jacobian) const override;
-
- private:
- static constexpr bool IsDynamic = (AmbientSpaceDimension == ceres::DYNAMIC);
- static constexpr int TangentSpaceDimension =
- IsDynamic ? ceres::DYNAMIC : AmbientSpaceDimension - 1;
-
- static constexpr int DAmbientSpaceDimension =
- IsDynamic ? ceres::DYNAMIC : 2 * AmbientSpaceDimension;
- static constexpr int DTangentSpaceDimension =
- IsDynamic ? ceres::DYNAMIC : 2 * TangentSpaceDimension;
-
- using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
- using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
- using MatrixPlusJacobian = Eigen::Matrix<double,
- DAmbientSpaceDimension,
- DTangentSpaceDimension,
- Eigen::RowMajor>;
- using MatrixMinusJacobian = Eigen::Matrix<double,
- DTangentSpaceDimension,
- DAmbientSpaceDimension,
- Eigen::RowMajor>;
-
- const int size_{AmbientSpaceDimension};
-};
-
} // namespace ceres
-#include "internal/line_manifold.h"
-#include "internal/sphere_manifold.h"
-
// clang-format off
#include "ceres/internal/reenable_warnings.h"
+// clang-format on
#endif // CERES_PUBLIC_MANIFOLD_H_
diff --git a/include/ceres/sphere_manifold.h b/include/ceres/sphere_manifold.h
new file mode 100644
index 0000000..c2ad5d3
--- /dev/null
+++ b/include/ceres/sphere_manifold.h
@@ -0,0 +1,231 @@
+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2022 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: vitus@google.com (Mike Vitus)
+// jodebo_beck@gmx.de (Johannes Beck)
+
+#ifndef CERES_PUBLIC_SPHERE_MANIFOLD_H_
+#define CERES_PUBLIC_SPHERE_MANIFOLD_H_
+
+#include <Eigen/Core>
+#include <algorithm>
+#include <array>
+#include <memory>
+#include <vector>
+
+#include "ceres/internal/disable_warnings.h"
+#include "ceres/internal/export.h"
+#include "ceres/internal/householder_vector.h"
+#include "ceres/internal/sphere_manifold_functions.h"
+#include "ceres/manifold.h"
+#include "ceres/types.h"
+#include "glog/logging.h"
+
+namespace ceres {
+
+// This provides a manifold on a sphere meaning that the norm of the vector
+// stays the same. Such cases often arises in Structure for Motion
+// problems. One example where they are used is in representing points whose
+// triangulation is ill-conditioned. Here it is advantageous to use an
+// over-parameterization since homogeneous vectors can represent points at
+// infinity.
+//
+// The plus operator is defined as
+// Plus(x, delta) =
+// [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
+//
+// The minus operator is defined as
+// Minus(x, y) = 2 atan2(nhy, y[-1]) / nhy * hy[0 : size_ - 1]
+// with nhy = norm(hy[0 : size_ - 1])
+//
+// with * defined as an operator which applies the update orthogonal to x to
+// remain on the sphere. The ambient space dimension is required to be greater
+// than 1.
+//
+// The class works with dynamic and static ambient space dimensions. If the
+// ambient space dimensions is known at compile time use
+//
+// SphereManifold<3> manifold;
+//
+// If the ambient space dimensions is not known at compile time the template
+// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
+// to be provided as a constructor argument:
+//
+// SphereManifold<ceres::DYNAMIC> manifold(ambient_dim);
+//
+// See section B.2 (p.25) in "Integrating Generic Sensor Fusion Algorithms
+// with Sound State Representations through Encapsulation of Manifolds" by C.
+// Hertzberg, R. Wagner, U. Frese and L. Schroder for more details
+// (https://arxiv.org/pdf/1107.1119.pdf)
+template <int AmbientSpaceDimension>
+class SphereManifold final : public Manifold {
+ public:
+ static_assert(
+ AmbientSpaceDimension == ceres::DYNAMIC || AmbientSpaceDimension > 1,
+ "The size of the homogeneous vector needs to be greater than 1.");
+ static_assert(ceres::DYNAMIC == Eigen::Dynamic,
+ "ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
+
+ SphereManifold();
+ explicit SphereManifold(int size);
+
+ int AmbientSize() const override {
+ return AmbientSpaceDimension == ceres::DYNAMIC ? size_
+ : AmbientSpaceDimension;
+ }
+ int TangentSize() const override { return AmbientSize() - 1; }
+
+ bool Plus(const double* x,
+ const double* delta,
+ double* x_plus_delta) const override;
+ bool PlusJacobian(const double* x, double* jacobian) const override;
+
+ bool Minus(const double* y,
+ const double* x,
+ double* y_minus_x) const override;
+ bool MinusJacobian(const double* x, double* jacobian) const override;
+
+ private:
+ static constexpr int TangentSpaceDimension =
+ AmbientSpaceDimension > 0 ? AmbientSpaceDimension - 1 : Eigen::Dynamic;
+
+ using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
+ using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
+ using MatrixPlusJacobian = Eigen::Matrix<double,
+ AmbientSpaceDimension,
+ TangentSpaceDimension,
+ Eigen::RowMajor>;
+ using MatrixMinusJacobian = Eigen::Matrix<double,
+ TangentSpaceDimension,
+ AmbientSpaceDimension,
+ Eigen::RowMajor>;
+
+ const int size_{};
+};
+
+template <int AmbientSpaceDimension>
+SphereManifold<AmbientSpaceDimension>::SphereManifold()
+ : size_{AmbientSpaceDimension} {
+ static_assert(
+ AmbientSpaceDimension != Eigen::Dynamic,
+ "The size is set to dynamic. Please call the constructor with a size.");
+}
+
+template <int AmbientSpaceDimension>
+SphereManifold<AmbientSpaceDimension>::SphereManifold(int size) : size_{size} {
+ if (AmbientSpaceDimension != Eigen::Dynamic) {
+ CHECK_EQ(AmbientSpaceDimension, size)
+ << "Specified size by template parameter differs from the supplied "
+ "one.";
+ } else {
+ CHECK_GT(size_, 1)
+ << "The size of the manifold needs to be greater than 1.";
+ }
+}
+
+template <int AmbientSpaceDimension>
+bool SphereManifold<AmbientSpaceDimension>::Plus(
+ const double* x_ptr,
+ const double* delta_ptr,
+ double* x_plus_delta_ptr) const {
+ Eigen::Map<const AmbientVector> x(x_ptr, size_);
+ Eigen::Map<const TangentVector> delta(delta_ptr, size_ - 1);
+ Eigen::Map<AmbientVector> x_plus_delta(x_plus_delta_ptr, size_);
+
+ const double norm_delta = delta.norm();
+
+ if (norm_delta == 0.0) {
+ x_plus_delta = x;
+ return true;
+ }
+
+ AmbientVector v(size_);
+ double beta;
+
+ // NOTE: The explicit template arguments are needed here because
+ // ComputeHouseholderVector is templated and some versions of MSVC
+ // have trouble deducing the type of v automatically.
+ internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
+ double,
+ AmbientSpaceDimension>(x, &v, &beta);
+
+ internal::ComputeSphereManifoldPlus(
+ v, beta, x, delta, norm_delta, &x_plus_delta);
+
+ return true;
+}
+
+template <int AmbientSpaceDimension>
+bool SphereManifold<AmbientSpaceDimension>::PlusJacobian(
+ const double* x_ptr, double* jacobian_ptr) const {
+ Eigen::Map<const AmbientVector> x(x_ptr, size_);
+ Eigen::Map<MatrixPlusJacobian> jacobian(jacobian_ptr, size_, size_ - 1);
+ internal::ComputeSphereManifoldPlusJacobian(x, &jacobian);
+
+ return true;
+}
+
+template <int AmbientSpaceDimension>
+bool SphereManifold<AmbientSpaceDimension>::Minus(const double* y_ptr,
+ const double* x_ptr,
+ double* y_minus_x_ptr) const {
+ AmbientVector y = Eigen::Map<const AmbientVector>(y_ptr, size_);
+ Eigen::Map<const AmbientVector> x(x_ptr, size_);
+ Eigen::Map<TangentVector> y_minus_x(y_minus_x_ptr, size_ - 1);
+
+ // Apply hoseholder transformation.
+ AmbientVector v(size_);
+ double beta;
+
+ // NOTE: The explicit template arguments are needed here because
+ // ComputeHouseholderVector is templated and some versions of MSVC
+ // have trouble deducing the type of v automatically.
+ internal::ComputeHouseholderVector<Eigen::Map<const AmbientVector>,
+ double,
+ AmbientSpaceDimension>(x, &v, &beta);
+ internal::ComputeSphereManifoldMinus(v, beta, x, y, &y_minus_x);
+ return true;
+}
+
+template <int AmbientSpaceDimension>
+bool SphereManifold<AmbientSpaceDimension>::MinusJacobian(
+ const double* x_ptr, double* jacobian_ptr) const {
+ Eigen::Map<const AmbientVector> x(x_ptr, size_);
+ Eigen::Map<MatrixMinusJacobian> jacobian(jacobian_ptr, size_ - 1, size_);
+
+ internal::ComputeSphereManifoldMinusJacobian(x, &jacobian);
+ return true;
+}
+
+} // namespace ceres
+
+// clang-format off
+#include "ceres/internal/reenable_warnings.h"
+// clang-format on
+
+#endif // CERES_PUBLIC_SPHERE_MANIFOLD_H_
diff --git a/internal/ceres/manifold_test.cc b/internal/ceres/manifold_test.cc
index 99965af..b697d02 100644
--- a/internal/ceres/manifold_test.cc
+++ b/internal/ceres/manifold_test.cc
@@ -38,9 +38,11 @@
#include "ceres/dynamic_numeric_diff_cost_function.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/port.h"
+#include "ceres/line_manifold.h"
#include "ceres/manifold_test_utils.h"
#include "ceres/numeric_diff_options.h"
#include "ceres/rotation.h"
+#include "ceres/sphere_manifold.h"
#include "ceres/types.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
