.. default-domain:: cpp | |

.. cpp:namespace:: ceres | |

.. _`chapter-nnls_modeling`: | |

================================= | |

Modeling Non-linear Least Squares | |

================================= | |

Introduction | |

============ | |

Ceres solver consists of two distinct parts. A modeling API which | |

provides a rich set of tools to construct an optimization problem one | |

term at a time and a solver API that controls the minimization | |

algorithm. This chapter is devoted to the task of modeling | |

optimization problems using Ceres. :ref:`chapter-nnls_solving` discusses | |

the various ways in which an optimization problem can be solved using | |

Ceres. | |

Ceres solves robustified bounds constrained non-linear least squares | |

problems of the form: | |

.. math:: :label: ceresproblem | |

\min_{\mathbf{x}} &\quad \frac{1}{2}\sum_{i} | |

\rho_i\left(\left\|f_i\left(x_{i_1}, | |

... ,x_{i_k}\right)\right\|^2\right) \\ | |

\text{s.t.} &\quad l_j \le x_j \le u_j | |

In Ceres parlance, the expression | |

:math:`\rho_i\left(\left\|f_i\left(x_{i_1},...,x_{i_k}\right)\right\|^2\right)` | |

is known as a **residual block**, where :math:`f_i(\cdot)` is a | |

:class:`CostFunction` that depends on the **parameter blocks** | |

:math:`\left\{x_{i_1},... , x_{i_k}\right\}`. | |

In most optimization problems small groups of scalars occur | |

together. For example the three components of a translation vector and | |

the four components of the quaternion that define the pose of a | |

camera. We refer to such a group of scalars as a **parameter block**. Of | |

course a parameter block can be just a single scalar too. | |

:math:`\rho_i` is a :class:`LossFunction`. A :class:`LossFunction` is | |

a scalar valued function that is used to reduce the influence of | |

outliers on the solution of non-linear least squares problems. | |

:math:`l_j` and :math:`u_j` are lower and upper bounds on the | |

parameter block :math:`x_j`. | |

As a special case, when :math:`\rho_i(x) = x`, i.e., the identity | |

function, and :math:`l_j = -\infty` and :math:`u_j = \infty` we get | |

the more familiar unconstrained `non-linear least squares problem | |

<http://en.wikipedia.org/wiki/Non-linear_least_squares>`_. | |

.. math:: :label: ceresproblemunconstrained | |

\frac{1}{2}\sum_{i} \left\|f_i\left(x_{i_1}, ... ,x_{i_k}\right)\right\|^2. | |

:class:`CostFunction` | |

===================== | |

For each term in the objective function, a :class:`CostFunction` is | |

responsible for computing a vector of residuals and if asked a vector | |

of Jacobian matrices, i.e., given :math:`\left[x_{i_1}, ... , | |

x_{i_k}\right]`, compute the vector | |

:math:`f_i\left(x_{i_1},...,x_{i_k}\right)` and the matrices | |

.. math:: J_{ij} = \frac{\partial}{\partial | |

x_{i_j}}f_i\left(x_{i_1},...,x_{i_k}\right),\quad \forall j | |

\in \{1, \ldots, k\} | |

.. class:: CostFunction | |

.. code-block:: c++ | |

class CostFunction { | |

public: | |

virtual bool Evaluate(double const* const* parameters, | |

double* residuals, | |

double** jacobians) = 0; | |

const vector<int32>& parameter_block_sizes(); | |

int num_residuals() const; | |

protected: | |

vector<int32>* mutable_parameter_block_sizes(); | |

void set_num_residuals(int num_residuals); | |

}; | |

The signature of the :class:`CostFunction` (number and sizes of input | |

parameter blocks and number of outputs) is stored in | |

:member:`CostFunction::parameter_block_sizes_` and | |

:member:`CostFunction::num_residuals_` respectively. User code | |

inheriting from this class is expected to set these two members with | |

the corresponding accessors. This information will be verified by the | |

:class:`Problem` when added with :func:`Problem::AddResidualBlock`. | |

.. function:: bool CostFunction::Evaluate(double const* const* parameters, double* residuals, double** jacobians) | |

Compute the residual vector and the Jacobian matrices. | |

``parameters`` is an array of pointers to arrays containing the | |

various parameter blocks. ``parameters`` has the same number of | |

elements as :member:`CostFunction::parameter_block_sizes_` and the | |

parameter blocks are in the same order as | |

:member:`CostFunction::parameter_block_sizes_`. | |

``residuals`` is an array of size ``num_residuals_``. | |

``jacobians`` is an array of size | |

:member:`CostFunction::parameter_block_sizes_` containing pointers | |

to storage for Jacobian matrices corresponding to each parameter | |

block. The Jacobian matrices are in the same order as | |

:member:`CostFunction::parameter_block_sizes_`. ``jacobians[i]`` is | |

an array that contains :member:`CostFunction::num_residuals_` x | |

:member:`CostFunction::parameter_block_sizes_` ``[i]`` | |

elements. Each Jacobian matrix is stored in row-major order, i.e., | |

``jacobians[i][r * parameter_block_size_[i] + c]`` = | |

:math:`\frac{\partial residual[r]}{\partial parameters[i][c]}` | |

If ``jacobians`` is ``NULL``, then no derivatives are returned; | |

this is the case when computing cost only. If ``jacobians[i]`` is | |

``NULL``, then the Jacobian matrix corresponding to the | |

:math:`i^{\textrm{th}}` parameter block must not be returned, this | |

is the case when a parameter block is marked constant. | |

**NOTE** The return value indicates whether the computation of the | |

residuals and/or jacobians was successful or not. | |

This can be used to communicate numerical failures in Jacobian | |

computations for instance. | |

:class:`SizedCostFunction` | |

========================== | |

.. class:: SizedCostFunction | |

If the size of the parameter blocks and the size of the residual | |

vector is known at compile time (this is the common case), | |

:class:`SizeCostFunction` can be used where these values can be | |

specified as template parameters and the user only needs to | |

implement :func:`CostFunction::Evaluate`. | |

.. code-block:: c++ | |

template<int kNumResiduals, | |

int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, | |

int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0> | |

class SizedCostFunction : public CostFunction { | |

public: | |

virtual bool Evaluate(double const* const* parameters, | |

double* residuals, | |

double** jacobians) const = 0; | |

}; | |

:class:`AutoDiffCostFunction` | |

============================= | |

.. class:: AutoDiffCostFunction | |

Defining a :class:`CostFunction` or a :class:`SizedCostFunction` | |

can be a tedious and error prone especially when computing | |

derivatives. To this end Ceres provides `automatic differentiation | |

<http://en.wikipedia.org/wiki/Automatic_differentiation>`_. | |

.. code-block:: c++ | |

template <typename CostFunctor, | |

int kNumResiduals, // Number of residuals, or ceres::DYNAMIC. | |

int N0, // Number of parameters in block 0. | |

int N1 = 0, // Number of parameters in block 1. | |

int N2 = 0, // Number of parameters in block 2. | |

int N3 = 0, // Number of parameters in block 3. | |

int N4 = 0, // Number of parameters in block 4. | |

int N5 = 0, // Number of parameters in block 5. | |

int N6 = 0, // Number of parameters in block 6. | |

int N7 = 0, // Number of parameters in block 7. | |

int N8 = 0, // Number of parameters in block 8. | |

int N9 = 0> // Number of parameters in block 9. | |

class AutoDiffCostFunction : public | |

SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> { | |

public: | |

explicit AutoDiffCostFunction(CostFunctor* functor); | |

// Ignore the template parameter kNumResiduals and use | |

// num_residuals instead. | |

AutoDiffCostFunction(CostFunctor* functor, int num_residuals); | |

}g | |

To get an auto differentiated cost function, you must define a | |

class with a templated ``operator()`` (a functor) that computes the | |

cost function in terms of the template parameter ``T``. The | |

autodiff framework substitutes appropriate ``Jet`` objects for | |

``T`` in order to compute the derivative when necessary, but this | |

is hidden, and you should write the function as if ``T`` were a | |

scalar type (e.g. a double-precision floating point number). | |

The function must write the computed value in the last argument | |

(the only non-``const`` one) and return true to indicate success. | |

For example, consider a scalar error :math:`e = k - x^\top y`, | |

where both :math:`x` and :math:`y` are two-dimensional vector | |

parameters and :math:`k` is a constant. The form of this error, | |

which is the difference between a constant and an expression, is a | |

common pattern in least squares problems. For example, the value | |

:math:`x^\top y` might be the model expectation for a series of | |

measurements, where there is an instance of the cost function for | |

each measurement :math:`k`. | |

The actual cost added to the total problem is :math:`e^2`, or | |

:math:`(k - x^\top y)^2`; however, the squaring is implicitly done | |

by the optimization framework. | |

To write an auto-differentiable cost function for the above model, | |

first define the object | |

.. code-block:: c++ | |

class MyScalarCostFunctor { | |

MyScalarCostFunctor(double k): k_(k) {} | |

template <typename T> | |

bool operator()(const T* const x , const T* const y, T* e) const { | |

e[0] = T(k_) - x[0] * y[0] - x[1] * y[1]; | |

return true; | |

} | |

private: | |

double k_; | |

}; | |

Note that in the declaration of ``operator()`` the input parameters | |

``x`` and ``y`` come first, and are passed as const pointers to arrays | |

of ``T``. If there were three input parameters, then the third input | |

parameter would come after ``y``. The output is always the last | |

parameter, and is also a pointer to an array. In the example above, | |

``e`` is a scalar, so only ``e[0]`` is set. | |

Then given this class definition, the auto differentiated cost | |

function for it can be constructed as follows. | |

.. code-block:: c++ | |

CostFunction* cost_function | |

= new AutoDiffCostFunction<MyScalarCostFunctor, 1, 2, 2>( | |

new MyScalarCostFunctor(1.0)); ^ ^ ^ | |

| | | | |

Dimension of residual ------+ | | | |

Dimension of x ----------------+ | | |

Dimension of y -------------------+ | |

In this example, there is usually an instance for each measurement | |

of ``k``. | |

In the instantiation above, the template parameters following | |

``MyScalarCostFunction``, ``<1, 2, 2>`` describe the functor as | |

computing a 1-dimensional output from two arguments, both | |

2-dimensional. | |

:class:`AutoDiffCostFunction` also supports cost functions with a | |

runtime-determined number of residuals. For example: | |

.. code-block:: c++ | |

CostFunction* cost_function | |

= new AutoDiffCostFunction<MyScalarCostFunctor, DYNAMIC, 2, 2>( | |

new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^ | |

runtime_number_of_residuals); <----+ | | | | |

| | | | | |

| | | | | |

Actual number of residuals ------+ | | | | |

Indicate dynamic number of residuals --------+ | | | |

Dimension of x ------------------------------------+ | | |

Dimension of y ---------------------------------------+ | |

The framework can currently accommodate cost functions of up to 10 | |

independent variables, and there is no limit on the dimensionality | |

of each of them. | |

**WARNING 1** Since the functor will get instantiated with | |

different types for ``T``, you must convert from other numeric | |

types to ``T`` before mixing computations with other variables | |

of type ``T``. In the example above, this is seen where instead of | |

using ``k_`` directly, ``k_`` is wrapped with ``T(k_)``. | |

**WARNING 2** A common beginner's error when first using | |

:class:`AutoDiffCostFunction` is to get the sizing wrong. In particular, | |

there is a tendency to set the template parameters to (dimension of | |

residual, number of parameters) instead of passing a dimension | |

parameter for *every parameter block*. In the example above, that | |

would be ``<MyScalarCostFunction, 1, 2>``, which is missing the 2 | |

as the last template argument. | |

:class:`DynamicAutoDiffCostFunction` | |

==================================== | |

.. class:: DynamicAutoDiffCostFunction | |

:class:`AutoDiffCostFunction` requires that the number of parameter | |

blocks and their sizes be known at compile time. It also has an | |

upper limit of 10 parameter blocks. In a number of applications, | |

this is not enough e.g., Bezier curve fitting, Neural Network | |

training etc. | |

.. code-block:: c++ | |

template <typename CostFunctor, int Stride = 4> | |

class DynamicAutoDiffCostFunction : public CostFunction { | |

}; | |

In such cases :class:`DynamicAutoDiffCostFunction` can be | |

used. Like :class:`AutoDiffCostFunction` the user must define a | |

templated functor, but the signature of the functor differs | |

slightly. The expected interface for the cost functors is: | |

.. code-block:: c++ | |

struct MyCostFunctor { | |

template<typename T> | |

bool operator()(T const* const* parameters, T* residuals) const { | |

} | |

} | |

Since the sizing of the parameters is done at runtime, you must | |

also specify the sizes after creating the dynamic autodiff cost | |

function. For example: | |

.. code-block:: c++ | |

DynamicAutoDiffCostFunction<MyCostFunctor, 4> cost_function( | |

new MyCostFunctor()); | |

cost_function.AddParameterBlock(5); | |

cost_function.AddParameterBlock(10); | |

cost_function.SetNumResiduals(21); | |

Under the hood, the implementation evaluates the cost function | |

multiple times, computing a small set of the derivatives (four by | |

default, controlled by the ``Stride`` template parameter) with each | |

pass. There is a performance tradeoff with the size of the passes; | |

Smaller sizes are more cache efficient but result in larger number | |

of passes, and larger stride lengths can destroy cache-locality | |

while reducing the number of passes over the cost function. The | |

optimal value depends on the number and sizes of the various | |

parameter blocks. | |

As a rule of thumb, try using :class:`AutoDiffCostFunction` before | |

you use :class:`DynamicAutoDiffCostFunction`. | |

:class:`NumericDiffCostFunction` | |

================================ | |

.. class:: NumericDiffCostFunction | |

In some cases, its not possible to define a templated cost functor, | |

for example when the evaluation of the residual involves a call to a | |

library function that you do not have control over. In such a | |

situation, `numerical differentiation | |

<http://en.wikipedia.org/wiki/Numerical_differentiation>`_ can be | |

used. | |

.. code-block:: c++ | |

template <typename CostFunctor, | |

NumericDiffMethod method = CENTRAL, | |

int kNumResiduals, // Number of residuals, or ceres::DYNAMIC. | |

int N0, // Number of parameters in block 0. | |

int N1 = 0, // Number of parameters in block 1. | |

int N2 = 0, // Number of parameters in block 2. | |

int N3 = 0, // Number of parameters in block 3. | |

int N4 = 0, // Number of parameters in block 4. | |

int N5 = 0, // Number of parameters in block 5. | |

int N6 = 0, // Number of parameters in block 6. | |

int N7 = 0, // Number of parameters in block 7. | |

int N8 = 0, // Number of parameters in block 8. | |

int N9 = 0> // Number of parameters in block 9. | |

class NumericDiffCostFunction : public | |

SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9> { | |

}; | |

To get a numerically differentiated :class:`CostFunction`, you must | |

define a class with a ``operator()`` (a functor) that computes the | |

residuals. The functor must write the computed value in the last | |

argument (the only non-``const`` one) and return ``true`` to | |

indicate success. Please see :class:`CostFunction` for details on | |

how the return value may be used to impose simple constraints on | |

the parameter block. e.g., an object of the form | |

.. code-block:: c++ | |

struct ScalarFunctor { | |

public: | |

bool operator()(const double* const x1, | |

const double* const x2, | |

double* residuals) const; | |

} | |

For example, consider a scalar error :math:`e = k - x'y`, where | |

both :math:`x` and :math:`y` are two-dimensional column vector | |

parameters, the prime sign indicates transposition, and :math:`k` | |

is a constant. The form of this error, which is the difference | |

between a constant and an expression, is a common pattern in least | |

squares problems. For example, the value :math:`x'y` might be the | |

model expectation for a series of measurements, where there is an | |

instance of the cost function for each measurement :math:`k`. | |

To write an numerically-differentiable class:`CostFunction` for the | |

above model, first define the object | |

.. code-block:: c++ | |

class MyScalarCostFunctor { | |

MyScalarCostFunctor(double k): k_(k) {} | |

bool operator()(const double* const x, | |

const double* const y, | |

double* residuals) const { | |

residuals[0] = k_ - x[0] * y[0] + x[1] * y[1]; | |

return true; | |

} | |

private: | |

double k_; | |

}; | |

Note that in the declaration of ``operator()`` the input parameters | |

``x`` and ``y`` come first, and are passed as const pointers to | |

arrays of ``double`` s. If there were three input parameters, then | |

the third input parameter would come after ``y``. The output is | |

always the last parameter, and is also a pointer to an array. In | |

the example above, the residual is a scalar, so only | |

``residuals[0]`` is set. | |

Then given this class definition, the numerically differentiated | |

:class:`CostFunction` with central differences used for computing | |

the derivative can be constructed as follows. | |

.. code-block:: c++ | |

CostFunction* cost_function | |

= new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, 1, 2, 2>( | |

new MyScalarCostFunctor(1.0)); ^ ^ ^ ^ | |

| | | | | |

Finite Differencing Scheme -+ | | | | |

Dimension of residual ------------+ | | | |

Dimension of x ----------------------+ | | |

Dimension of y -------------------------+ | |

In this example, there is usually an instance for each measurement | |

of `k`. | |

In the instantiation above, the template parameters following | |

``MyScalarCostFunctor``, ``1, 2, 2``, describe the functor as | |

computing a 1-dimensional output from two arguments, both | |

2-dimensional. | |

NumericDiffCostFunction also supports cost functions with a | |

runtime-determined number of residuals. For example: | |

.. code-block:: c++ | |

CostFunction* cost_function | |

= new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>( | |

new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^ | |

TAKE_OWNERSHIP, | | | | |

runtime_number_of_residuals); <----+ | | | | |

| | | | | |

| | | | | |

Actual number of residuals ------+ | | | | |

Indicate dynamic number of residuals --------------------+ | | | |

Dimension of x ------------------------------------------------+ | | |

Dimension of y ---------------------------------------------------+ | |

The framework can currently accommodate cost functions of up to 10 | |

independent variables, and there is no limit on the dimensionality | |

of each of them. | |

The ``CENTRAL`` difference method is considerably more accurate at | |

the cost of twice as many function evaluations than forward | |

difference. Consider using central differences begin with, and only | |

after that works, trying forward difference to improve performance. | |

**WARNING** A common beginner's error when first using | |

NumericDiffCostFunction is to get the sizing wrong. In particular, | |

there is a tendency to set the template parameters to (dimension of | |

residual, number of parameters) instead of passing a dimension | |

parameter for *every parameter*. In the example above, that would | |

be ``<MyScalarCostFunctor, 1, 2>``, which is missing the last ``2`` | |

argument. Please be careful when setting the size parameters. | |

**Alternate Interface** | |

For a variety of reason, including compatibility with legacy code, | |

:class:`NumericDiffCostFunction` can also take | |

:class:`CostFunction` objects as input. The following describes | |

how. | |

To get a numerically differentiated cost function, define a | |

subclass of :class:`CostFunction` such that the | |

:func:`CostFunction::Evaluate` function ignores the ``jacobians`` | |

parameter. The numeric differentiation wrapper will fill in the | |

jacobian parameter if necessary by repeatedly calling the | |

:func:`CostFunction::Evaluate` with small changes to the | |

appropriate parameters, and computing the slope. For performance, | |

the numeric differentiation wrapper class is templated on the | |

concrete cost function, even though it could be implemented only in | |

terms of the :class:`CostFunction` interface. | |

The numerically differentiated version of a cost function for a | |

cost function can be constructed as follows: | |

.. code-block:: c++ | |

CostFunction* cost_function | |

= new NumericDiffCostFunction<MyCostFunction, CENTRAL, 1, 4, 8>( | |

new MyCostFunction(...), TAKE_OWNERSHIP); | |

where ``MyCostFunction`` has 1 residual and 2 parameter blocks with | |

sizes 4 and 8 respectively. Look at the tests for a more detailed | |

example. | |

:class:`DynamicNumericDiffCostFunction` | |

======================================= | |

.. class:: DynamicNumericDiffCostFunction | |

Like :class:`AutoDiffCostFunction` :class:`NumericDiffCostFunction` | |

requires that the number of parameter blocks and their sizes be | |

known at compile time. It also has an upper limit of 10 parameter | |

blocks. In a number of applications, this is not enough. | |

.. code-block:: c++ | |

template <typename CostFunctor, NumericDiffMethod method = CENTRAL> | |

class DynamicNumericDiffCostFunction : public CostFunction { | |

}; | |

In such cases when numeric differentiation is desired, | |

:class:`DynamicNumericDiffCostFunction` can be used. | |

Like :class:`NumericDiffCostFunction` the user must define a | |

functor, but the signature of the functor differs slightly. The | |

expected interface for the cost functors is: | |

.. code-block:: c++ | |

struct MyCostFunctor { | |

bool operator()(double const* const* parameters, double* residuals) const { | |

} | |

} | |

Since the sizing of the parameters is done at runtime, you must | |

also specify the sizes after creating the dynamic numeric diff cost | |

function. For example: | |

.. code-block:: c++ | |

DynamicNumericDiffCostFunction<MyCostFunctor> cost_function( | |

new MyCostFunctor()); | |

cost_function.AddParameterBlock(5); | |

cost_function.AddParameterBlock(10); | |

cost_function.SetNumResiduals(21); | |

As a rule of thumb, try using :class:`NumericDiffCostFunction` before | |

you use :class:`DynamicNumericDiffCostFunction`. | |

:class:`CostFunctionToFunctor` | |

============================== | |

.. class:: CostFunctionToFunctor | |

:class:`CostFunctionToFunctor` is an adapter class that allows | |

users to use :class:`CostFunction` objects in templated functors | |

which are to be used for automatic differentiation. This allows | |

the user to seamlessly mix analytic, numeric and automatic | |

differentiation. | |

For example, let us assume that | |

.. code-block:: c++ | |

class IntrinsicProjection : public SizedCostFunction<2, 5, 3> { | |

public: | |

IntrinsicProjection(const double* observations); | |

virtual bool Evaluate(double const* const* parameters, | |

double* residuals, | |

double** jacobians) const; | |

}; | |

is a :class:`CostFunction` that implements the projection of a | |

point in its local coordinate system onto its image plane and | |

subtracts it from the observed point projection. It can compute its | |

residual and either via analytic or numerical differentiation can | |

compute its jacobians. | |

Now we would like to compose the action of this | |

:class:`CostFunction` with the action of camera extrinsics, i.e., | |

rotation and translation. Say we have a templated function | |

.. code-block:: c++ | |

template<typename T> | |

void RotateAndTranslatePoint(const T* rotation, | |

const T* translation, | |

const T* point, | |

T* result); | |

Then we can now do the following, | |

.. code-block:: c++ | |

struct CameraProjection { | |

CameraProjection(double* observation) | |

: intrinsic_projection_(new IntrinsicProjection(observation_)) { | |

} | |

template <typename T> | |

bool operator()(const T* rotation, | |

const T* translation, | |

const T* intrinsics, | |

const T* point, | |

T* residual) const { | |

T transformed_point[3]; | |

RotateAndTranslatePoint(rotation, translation, point, transformed_point); | |

// Note that we call intrinsic_projection_, just like it was | |

// any other templated functor. | |

return intrinsic_projection_(intrinsics, transformed_point, residual); | |

} | |

private: | |

CostFunctionToFunctor<2,5,3> intrinsic_projection_; | |

}; | |

In the above example, we assumed that ``IntrinsicProjection`` is a | |

``CostFunction`` capable of evaluating its value and its | |

derivatives. Suppose, if that were not the case and | |

``IntrinsicProjection`` was defined as follows: | |

.. code-block:: c++ | |

struct IntrinsicProjection | |

IntrinsicProjection(const double* observations) { | |

observations_[0] = observations[0]; | |

observations_[1] = observations[1]; | |

} | |

bool operator()(const double* calibration, | |

const double* point, | |

double* residuals) { | |

double projection[2]; | |

ThirdPartyProjectionFunction(calibration, point, projection); | |

residuals[0] = observations_[0] - projection[0]; | |

residuals[1] = observations_[1] - projection[1]; | |

return true; | |

} | |

double observations_[2]; | |

}; | |

Here ``ThirdPartyProjectionFunction`` is some third party library | |

function that we have no control over. So this function can compute | |

its value and we would like to use numeric differentiation to | |

compute its derivatives. In this case we can use a combination of | |

``NumericDiffCostFunction`` and ``CostFunctionToFunctor`` to get the | |

job done. | |

.. code-block:: c++ | |

struct CameraProjection { | |

CameraProjection(double* observation) | |

intrinsic_projection_( | |

new NumericDiffCostFunction<IntrinsicProjection, CENTRAL, 2, 5, 3>( | |

new IntrinsicProjection(observations)) { | |

} | |

template <typename T> | |

bool operator()(const T* rotation, | |

const T* translation, | |

const T* intrinsics, | |

const T* point, | |

T* residuals) const { | |

T transformed_point[3]; | |

RotateAndTranslatePoint(rotation, translation, point, transformed_point); | |

return intrinsic_projection_(intrinsics, transformed_point, residual); | |

} | |

private: | |

CostFunctionToFunctor<2,5,3> intrinsic_projection_; | |

}; | |

:class:`ConditionedCostFunction` | |

================================ | |

.. class:: ConditionedCostFunction | |

This class allows you to apply different conditioning to the residual | |

values of a wrapped cost function. An example where this is useful is | |

where you have an existing cost function that produces N values, but you | |

want the total cost to be something other than just the sum of these | |

squared values - maybe you want to apply a different scaling to some | |

values, to change their contribution to the cost. | |

Usage: | |

.. code-block:: c++ | |

// my_cost_function produces N residuals | |

CostFunction* my_cost_function = ... | |

CHECK_EQ(N, my_cost_function->num_residuals()); | |

vector<CostFunction*> conditioners; | |

// Make N 1x1 cost functions (1 parameter, 1 residual) | |

CostFunction* f_1 = ... | |

conditioners.push_back(f_1); | |

CostFunction* f_N = ... | |

conditioners.push_back(f_N); | |

ConditionedCostFunction* ccf = | |

new ConditionedCostFunction(my_cost_function, conditioners); | |

Now ``ccf`` 's ``residual[i]`` (i=0..N-1) will be passed though the | |

:math:`i^{\text{th}}` conditioner. | |

.. code-block:: c++ | |

ccf_residual[i] = f_i(my_cost_function_residual[i]) | |

and the Jacobian will be affected appropriately. | |

:class:`NormalPrior` | |

==================== | |

.. class:: NormalPrior | |

.. code-block:: c++ | |

class NormalPrior: public CostFunction { | |

public: | |

// Check that the number of rows in the vector b are the same as the | |

// number of columns in the matrix A, crash otherwise. | |

NormalPrior(const Matrix& A, const Vector& b); | |

virtual bool Evaluate(double const* const* parameters, | |

double* residuals, | |

double** jacobians) const; | |

}; | |

Implements a cost function of the form | |

.. math:: cost(x) = ||A(x - b)||^2 | |

where, the matrix :math:`A` and the vector :math:`b` are fixed and :math:`x` | |

is the variable. In case the user is interested in implementing a cost | |

function of the form | |

.. math:: cost(x) = (x - \mu)^T S^{-1} (x - \mu) | |

where, :math:`\mu` is a vector and :math:`S` is a covariance matrix, | |

then, :math:`A = S^{-1/2}`, i.e the matrix :math:`A` is the square | |

root of the inverse of the covariance, also known as the stiffness | |

matrix. There are however no restrictions on the shape of | |

:math:`A`. It is free to be rectangular, which would be the case if | |

the covariance matrix :math:`S` is rank deficient. | |

.. _`section-loss_function`: | |

:class:`LossFunction` | |

===================== | |

.. class:: LossFunction | |

For least squares problems where the minimization may encounter | |

input terms that contain outliers, that is, completely bogus | |

measurements, it is important to use a loss function that reduces | |

their influence. | |

Consider a structure from motion problem. The unknowns are 3D | |

points and camera parameters, and the measurements are image | |

coordinates describing the expected reprojected position for a | |

point in a camera. For example, we want to model the geometry of a | |

street scene with fire hydrants and cars, observed by a moving | |

camera with unknown parameters, and the only 3D points we care | |

about are the pointy tippy-tops of the fire hydrants. Our magic | |

image processing algorithm, which is responsible for producing the | |

measurements that are input to Ceres, has found and matched all | |

such tippy-tops in all image frames, except that in one of the | |

frame it mistook a car's headlight for a hydrant. If we didn't do | |

anything special the residual for the erroneous measurement will | |

result in the entire solution getting pulled away from the optimum | |

to reduce the large error that would otherwise be attributed to the | |

wrong measurement. | |

Using a robust loss function, the cost for large residuals is | |

reduced. In the example above, this leads to outlier terms getting | |

down-weighted so they do not overly influence the final solution. | |

.. code-block:: c++ | |

class LossFunction { | |

public: | |

virtual void Evaluate(double s, double out[3]) const = 0; | |

}; | |

The key method is :func:`LossFunction::Evaluate`, which given a | |

non-negative scalar ``s``, computes | |

.. math:: out = \begin{bmatrix}\rho(s), & \rho'(s), & \rho''(s)\end{bmatrix} | |

Here the convention is that the contribution of a term to the cost | |

function is given by :math:`\frac{1}{2}\rho(s)`, where :math:`s | |

=\|f_i\|^2`. Calling the method with a negative value of :math:`s` | |

is an error and the implementations are not required to handle that | |

case. | |

Most sane choices of :math:`\rho` satisfy: | |

.. math:: | |

\rho(0) &= 0\\ | |

\rho'(0) &= 1\\ | |

\rho'(s) &< 1 \text{ in the outlier region}\\ | |

\rho''(s) &< 0 \text{ in the outlier region} | |

so that they mimic the squared cost for small residuals. | |

**Scaling** | |

Given one robustifier :math:`\rho(s)` one can change the length | |

scale at which robustification takes place, by adding a scale | |

factor :math:`a > 0` which gives us :math:`\rho(s,a) = a^2 \rho(s / | |

a^2)` and the first and second derivatives as :math:`\rho'(s / | |

a^2)` and :math:`(1 / a^2) \rho''(s / a^2)` respectively. | |

The reason for the appearance of squaring is that :math:`a` is in | |

the units of the residual vector norm whereas :math:`s` is a squared | |

norm. For applications it is more convenient to specify :math:`a` than | |

its square. | |

Instances | |

--------- | |

Ceres includes a number of predefined loss functions. For simplicity | |

we described their unscaled versions. The figure below illustrates | |

their shape graphically. More details can be found in | |

``include/ceres/loss_function.h``. | |

.. figure:: loss.png | |

:figwidth: 500px | |

:height: 400px | |

:align: center | |

Shape of the various common loss functions. | |

.. class:: TrivialLoss | |

.. math:: \rho(s) = s | |

.. class:: HuberLoss | |

.. math:: \rho(s) = \begin{cases} s & s \le 1\\ 2 \sqrt{s} - 1 & s > 1 \end{cases} | |

.. class:: SoftLOneLoss | |

.. math:: \rho(s) = 2 (\sqrt{1+s} - 1) | |

.. class:: CauchyLoss | |

.. math:: \rho(s) = \log(1 + s) | |

.. class:: ArctanLoss | |

.. math:: \rho(s) = \arctan(s) | |

.. class:: TolerantLoss | |

.. math:: \rho(s,a,b) = b \log(1 + e^{(s - a) / b}) - b \log(1 + e^{-a / b}) | |

.. class:: ComposedLoss | |

Given two loss functions ``f`` and ``g``, implements the loss | |

function ``h(s) = f(g(s))``. | |

.. code-block:: c++ | |

class ComposedLoss : public LossFunction { | |

public: | |

explicit ComposedLoss(const LossFunction* f, | |

Ownership ownership_f, | |

const LossFunction* g, | |

Ownership ownership_g); | |

}; | |

.. class:: ScaledLoss | |

Sometimes you want to simply scale the output value of the | |

robustifier. For example, you might want to weight different error | |

terms differently (e.g., weight pixel reprojection errors | |

differently from terrain errors). | |

Given a loss function :math:`\rho(s)` and a scalar :math:`a`, :class:`ScaledLoss` | |

implements the function :math:`a \rho(s)`. | |

Since we treat a ``NULL`` Loss function as the Identity loss | |

function, :math:`rho` = ``NULL``: is a valid input and will result | |

in the input being scaled by :math:`a`. This provides a simple way | |

of implementing a scaled ResidualBlock. | |

.. class:: LossFunctionWrapper | |

Sometimes after the optimization problem has been constructed, we | |

wish to mutate the scale of the loss function. For example, when | |

performing estimation from data which has substantial outliers, | |

convergence can be improved by starting out with a large scale, | |

optimizing the problem and then reducing the scale. This can have | |

better convergence behavior than just using a loss function with a | |

small scale. | |

This templated class allows the user to implement a loss function | |

whose scale can be mutated after an optimization problem has been | |

constructed, e.g, | |

.. code-block:: c++ | |

Problem problem; | |

// Add parameter blocks | |

CostFunction* cost_function = | |

new AutoDiffCostFunction < UW_Camera_Mapper, 2, 9, 3>( | |

new UW_Camera_Mapper(feature_x, feature_y)); | |

LossFunctionWrapper* loss_function(new HuberLoss(1.0), TAKE_OWNERSHIP); | |

problem.AddResidualBlock(cost_function, loss_function, parameters); | |

Solver::Options options; | |

Solver::Summary summary; | |

Solve(options, &problem, &summary); | |

loss_function->Reset(new HuberLoss(1.0), TAKE_OWNERSHIP); | |

Solve(options, &problem, &summary); | |

Theory | |

------ | |

Let us consider a problem with a single problem and a single parameter | |

block. | |

.. math:: | |

\min_x \frac{1}{2}\rho(f^2(x)) | |

Then, the robustified gradient and the Gauss-Newton Hessian are | |

.. math:: | |

g(x) &= \rho'J^\top(x)f(x)\\ | |

H(x) &= J^\top(x)\left(\rho' + 2 \rho''f(x)f^\top(x)\right)J(x) | |

where the terms involving the second derivatives of :math:`f(x)` have | |

been ignored. Note that :math:`H(x)` is indefinite if | |

:math:`\rho''f(x)^\top f(x) + \frac{1}{2}\rho' < 0`. If this is not | |

the case, then its possible to re-weight the residual and the Jacobian | |

matrix such that the corresponding linear least squares problem for | |

the robustified Gauss-Newton step. | |

Let :math:`\alpha` be a root of | |

.. math:: \frac{1}{2}\alpha^2 - \alpha - \frac{\rho''}{\rho'}\|f(x)\|^2 = 0. | |

Then, define the rescaled residual and Jacobian as | |

.. math:: | |

\tilde{f}(x) &= \frac{\sqrt{\rho'}}{1 - \alpha} f(x)\\ | |

\tilde{J}(x) &= \sqrt{\rho'}\left(1 - \alpha | |

\frac{f(x)f^\top(x)}{\left\|f(x)\right\|^2} \right)J(x) | |

In the case :math:`2 \rho''\left\|f(x)\right\|^2 + \rho' \lesssim 0`, | |

we limit :math:`\alpha \le 1- \epsilon` for some small | |

:math:`\epsilon`. For more details see [Triggs]_. | |

With this simple rescaling, one can use any Jacobian based non-linear | |

least squares algorithm to robustified non-linear least squares | |

problems. | |

:class:`LocalParameterization` | |

============================== | |

.. class:: LocalParameterization | |

.. code-block:: c++ | |

class LocalParameterization { | |

public: | |

virtual ~LocalParameterization() {} | |

virtual bool Plus(const double* x, | |

const double* delta, | |

double* x_plus_delta) const = 0; | |

virtual bool ComputeJacobian(const double* x, double* jacobian) const = 0; | |

virtual bool MultiplyByJacobian(const double* x, | |

const int num_rows, | |

const double* global_matrix, | |

double* local_matrix) const; | |

virtual int GlobalSize() const = 0; | |

virtual int LocalSize() const = 0; | |

}; | |

Sometimes the parameters :math:`x` can overparameterize a | |

problem. In that case it is desirable to choose a parameterization | |

to remove the null directions of the cost. More generally, if | |

:math:`x` lies on a manifold of a smaller dimension than the | |

ambient space that it is embedded in, then it is numerically and | |

computationally more effective to optimize it using a | |

parameterization that lives in the tangent space of that manifold | |

at each point. | |

For example, a sphere in three dimensions is a two dimensional | |

manifold, embedded in a three dimensional space. At each point on | |

the sphere, the plane tangent to it defines a two dimensional | |

tangent space. For a cost function defined on this sphere, given a | |

point :math:`x`, moving in the direction normal to the sphere at | |

that point is not useful. Thus a better way to parameterize a point | |

on a sphere is to optimize over two dimensional vector | |

:math:`\Delta x` in the tangent space at the point on the sphere | |

point and then "move" to the point :math:`x + \Delta x`, where the | |

move operation involves projecting back onto the sphere. Doing so | |

removes a redundant dimension from the optimization, making it | |

numerically more robust and efficient. | |

More generally we can define a function | |

.. math:: x' = \boxplus(x, \Delta x), | |

where :math:`x'` has the same size as :math:`x`, and :math:`\Delta | |

x` is of size less than or equal to :math:`x`. The function | |

:math:`\boxplus`, generalizes the definition of vector | |

addition. Thus it satisfies the identity | |

.. math:: \boxplus(x, 0) = x,\quad \forall x. | |

Instances of :class:`LocalParameterization` implement the | |

:math:`\boxplus` operation and its derivative with respect to | |

:math:`\Delta x` at :math:`\Delta x = 0`. | |

.. function:: int LocalParameterization::GlobalSize() | |

The dimension of the ambient space in which the parameter block | |

:math:`x` lives. | |

.. function:: int LocalParamterization::LocaLocalSize() | |

The size of the tangent space | |

that :math:`\Delta x` lives in. | |

.. function:: bool LocalParameterization::Plus(const double* x, const double* delta, double* x_plus_delta) const | |

:func:`LocalParameterization::Plus` implements :math:`\boxplus(x,\Delta x)`. | |

.. function:: bool LocalParameterization::ComputeJacobian(const double* x, double* jacobian) const | |

Computes the Jacobian matrix | |

.. math:: J = \left . \frac{\partial }{\partial \Delta x} \boxplus(x,\Delta x)\right|_{\Delta x = 0} | |

in row major form. | |

.. function:: bool MultiplyByJacobian(const double* x, const int num_rows, const double* global_matrix, double* local_matrix) const | |

local_matrix = global_matrix * jacobian | |

global_matrix is a num_rows x GlobalSize row major matrix. | |

local_matrix is a num_rows x LocalSize row major matrix. | |

jacobian is the matrix returned by :func:`LocalParameterization::ComputeJacobian` at :math:`x`. | |

This is only used by GradientProblem. For most normal uses, it is | |

okay to use the default implementation. | |

Instances | |

--------- | |

.. class:: IdentityParameterization | |

A trivial version of :math:`\boxplus` is when :math:`\Delta x` is | |

of the same size as :math:`x` and | |

.. math:: \boxplus(x, \Delta x) = x + \Delta x | |

.. class:: SubsetParameterization | |

A more interesting case if :math:`x` is a two dimensional vector, | |

and the user wishes to hold the first coordinate constant. Then, | |

:math:`\Delta x` is a scalar and :math:`\boxplus` is defined as | |

.. math:: | |

\boxplus(x, \Delta x) = x + \left[ \begin{array}{c} 0 \\ 1 | |

\end{array} \right] \Delta x | |

:class:`SubsetParameterization` generalizes this construction to | |

hold any part of a parameter block constant. | |

.. class:: QuaternionParameterization | |

Another example that occurs commonly in Structure from Motion | |

problems is when camera rotations are parameterized using a | |

quaternion. There, it is useful only to make updates orthogonal to | |

that 4-vector defining the quaternion. One way to do this is to let | |

:math:`\Delta x` be a 3 dimensional vector and define | |

:math:`\boxplus` to be | |

.. math:: \boxplus(x, \Delta x) = \left[ \cos(|\Delta x|), \frac{\sin\left(|\Delta x|\right)}{|\Delta x|} \Delta x \right] * x | |

:label: quaternion | |

The multiplication between the two 4-vectors on the right hand side | |

is the standard quaternion | |

product. :class:`QuaternionParameterization` is an implementation | |

of :eq:`quaternion`. | |

:class:`AutoDiffLocalParameterization` | |

====================================== | |

.. class:: AutoDiffLocalParameterization | |

:class:`AutoDiffLocalParameterization` does for | |

:class:`LocalParameterization` what :class:`AutoDiffCostFunction` | |

does for :class:`CostFunction`. It allows the user to define a | |

templated functor that implements the | |

:func:`LocalParameterization::Plus` operation and it uses automatic | |

differentiation to implement the computation of the Jacobian. | |

To get an auto differentiated local parameterization, you must | |

define a class with a templated operator() (a functor) that computes | |

.. math:: x' = \boxplus(x, \Delta x), | |

For example, Quaternions have a three dimensional local | |

parameterization. Its plus operation can be implemented as (taken | |

from `internal/ceres/autodiff_local_parameterization_test.cc | |

<https://ceres-solver.googlesource.com/ceres-solver/+/master/internal/ceres/autodiff_local_parameterization_test.cc>`_ | |

) | |

.. code-block:: c++ | |

struct QuaternionPlus { | |

template<typename T> | |

bool operator()(const T* x, const T* delta, T* x_plus_delta) const { | |

const T squared_norm_delta = | |

delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2]; | |

T q_delta[4]; | |

if (squared_norm_delta > T(0.0)) { | |

T norm_delta = sqrt(squared_norm_delta); | |

const T sin_delta_by_delta = sin(norm_delta) / norm_delta; | |

q_delta[0] = cos(norm_delta); | |

q_delta[1] = sin_delta_by_delta * delta[0]; | |

q_delta[2] = sin_delta_by_delta * delta[1]; | |

q_delta[3] = sin_delta_by_delta * delta[2]; | |

} else { | |

// We do not just use q_delta = [1,0,0,0] here because that is a | |

// constant and when used for automatic differentiation will | |

// lead to a zero derivative. Instead we take a first order | |

// approximation and evaluate it at zero. | |

q_delta[0] = T(1.0); | |

q_delta[1] = delta[0]; | |

q_delta[2] = delta[1]; | |

q_delta[3] = delta[2]; | |

} | |

Quaternionproduct(q_delta, x, x_plus_delta); | |

return true; | |

} | |

}; | |

Given this struct, the auto differentiated local | |

parameterization can now be constructed as | |

.. code-block:: c++ | |

LocalParameterization* local_parameterization = | |

new AutoDiffLocalParameterization<QuaternionPlus, 4, 3>; | |

| | | |

Global Size ---------------+ | | |

Local Size -------------------+ | |

**WARNING:** Since the functor will get instantiated with different | |

types for ``T``, you must to convert from other numeric types to | |

``T`` before mixing computations with other variables of type | |

``T``. In the example above, this is seen where instead of using | |

``k_`` directly, ``k_`` is wrapped with ``T(k_)``. | |

:class:`Problem` | |

================ | |

.. class:: Problem | |

:class:`Problem` holds the robustified bounds constrained | |

non-linear least squares problem :eq:`ceresproblem`. To create a | |

least squares problem, use the :func:`Problem::AddResidualBlock` | |

and :func:`Problem::AddParameterBlock` methods. | |

For example a problem containing 3 parameter blocks of sizes 3, 4 | |

and 5 respectively and two residual blocks of size 2 and 6: | |

.. code-block:: c++ | |

double x1[] = { 1.0, 2.0, 3.0 }; | |

double x2[] = { 1.0, 2.0, 3.0, 5.0 }; | |

double x3[] = { 1.0, 2.0, 3.0, 6.0, 7.0 }; | |

Problem problem; | |

problem.AddResidualBlock(new MyUnaryCostFunction(...), x1); | |

problem.AddResidualBlock(new MyBinaryCostFunction(...), x2, x3); | |

:func:`Problem::AddResidualBlock` as the name implies, adds a | |

residual block to the problem. It adds a :class:`CostFunction`, an | |

optional :class:`LossFunction` and connects the | |

:class:`CostFunction` to a set of parameter block. | |

The cost function carries with it information about the sizes of | |

the parameter blocks it expects. The function checks that these | |

match the sizes of the parameter blocks listed in | |

``parameter_blocks``. The program aborts if a mismatch is | |

detected. ``loss_function`` can be ``NULL``, in which case the cost | |

of the term is just the squared norm of the residuals. | |

The user has the option of explicitly adding the parameter blocks | |

using :func:`Problem::AddParameterBlock`. This causes additional | |

correctness checking; however, :func:`Problem::AddResidualBlock` | |

implicitly adds the parameter blocks if they are not present, so | |

calling :func:`Problem::AddParameterBlock` explicitly is not | |

required. | |

:func:`Problem::AddParameterBlock` explicitly adds a parameter | |

block to the :class:`Problem`. Optionally it allows the user to | |

associate a :class:`LocalParameterization` object with the | |

parameter block too. Repeated calls with the same arguments are | |

ignored. Repeated calls with the same double pointer but a | |

different size results in undefined behavior. | |

You can set any parameter block to be constant using | |

:func:`Problem::SetParameterBlockConstant` and undo this using | |

:func:`SetParameterBlockVariable`. | |

In fact you can set any number of parameter blocks to be constant, | |

and Ceres is smart enough to figure out what part of the problem | |

you have constructed depends on the parameter blocks that are free | |

to change and only spends time solving it. So for example if you | |

constructed a problem with a million parameter blocks and 2 million | |

residual blocks, but then set all but one parameter blocks to be | |

constant and say only 10 residual blocks depend on this one | |

non-constant parameter block. Then the computational effort Ceres | |

spends in solving this problem will be the same if you had defined | |

a problem with one parameter block and 10 residual blocks. | |

**Ownership** | |

:class:`Problem` by default takes ownership of the | |

``cost_function``, ``loss_function`` and ``local_parameterization`` | |

pointers. These objects remain live for the life of the | |

:class:`Problem`. If the user wishes to keep control over the | |

destruction of these objects, then they can do this by setting the | |

corresponding enums in the :class:`Problem::Options` struct. | |

Note that even though the Problem takes ownership of ``cost_function`` | |

and ``loss_function``, it does not preclude the user from re-using | |

them in another residual block. The destructor takes care to call | |

delete on each ``cost_function`` or ``loss_function`` pointer only | |

once, regardless of how many residual blocks refer to them. | |

.. function:: ResidualBlockId Problem::AddResidualBlock(CostFunction* cost_function, LossFunction* loss_function, const vector<double*> parameter_blocks) | |

Add a residual block to the overall cost function. The cost | |

function carries with it information about the sizes of the | |

parameter blocks it expects. The function checks that these match | |

the sizes of the parameter blocks listed in parameter_blocks. The | |

program aborts if a mismatch is detected. loss_function can be | |

NULL, in which case the cost of the term is just the squared norm | |

of the residuals. | |

The user has the option of explicitly adding the parameter blocks | |

using AddParameterBlock. This causes additional correctness | |

checking; however, AddResidualBlock implicitly adds the parameter | |

blocks if they are not present, so calling AddParameterBlock | |

explicitly is not required. | |

The Problem object by default takes ownership of the | |

cost_function and loss_function pointers. These objects remain | |

live for the life of the Problem object. If the user wishes to | |

keep control over the destruction of these objects, then they can | |

do this by setting the corresponding enums in the Options struct. | |

Note: Even though the Problem takes ownership of cost_function | |

and loss_function, it does not preclude the user from re-using | |

them in another residual block. The destructor takes care to call | |

delete on each cost_function or loss_function pointer only once, | |

regardless of how many residual blocks refer to them. | |

Example usage: | |

.. code-block:: c++ | |

double x1[] = {1.0, 2.0, 3.0}; | |

double x2[] = {1.0, 2.0, 5.0, 6.0}; | |

double x3[] = {3.0, 6.0, 2.0, 5.0, 1.0}; | |

Problem problem; | |

problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1); | |

problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1); | |

.. function:: void Problem::AddParameterBlock(double* values, int size, LocalParameterization* local_parameterization) | |

Add a parameter block with appropriate size to the problem. | |

Repeated calls with the same arguments are ignored. Repeated calls | |

with the same double pointer but a different size results in | |

undefined behavior. | |

.. function:: void Problem::AddParameterBlock(double* values, int size) | |

Add a parameter block with appropriate size and parameterization to | |

the problem. Repeated calls with the same arguments are | |

ignored. Repeated calls with the same double pointer but a | |

different size results in undefined behavior. | |

.. function:: void Problem::RemoveResidualBlock(ResidualBlockId residual_block) | |

Remove a residual block from the problem. Any parameters that the residual | |

block depends on are not removed. The cost and loss functions for the | |

residual block will not get deleted immediately; won't happen until the | |

problem itself is deleted. If Problem::Options::enable_fast_removal is | |

true, then the removal is fast (almost constant time). Otherwise, removing a | |

residual block will incur a scan of the entire Problem object to verify that | |

the residual_block represents a valid residual in the problem. | |

**WARNING:** Removing a residual or parameter block will destroy | |

the implicit ordering, rendering the jacobian or residuals returned | |

from the solver uninterpretable. If you depend on the evaluated | |

jacobian, do not use remove! This may change in a future release. | |

Hold the indicated parameter block constant during optimization. | |

.. function:: void Problem::RemoveParameterBlock(double* values) | |

Remove a parameter block from the problem. The parameterization of | |

the parameter block, if it exists, will persist until the deletion | |

of the problem (similar to cost/loss functions in residual block | |

removal). Any residual blocks that depend on the parameter are also | |

removed, as described above in RemoveResidualBlock(). If | |

Problem::Options::enable_fast_removal is true, then | |

the removal is fast (almost constant time). Otherwise, removing a | |

parameter block will incur a scan of the entire Problem object. | |

**WARNING:** Removing a residual or parameter block will destroy | |

the implicit ordering, rendering the jacobian or residuals returned | |

from the solver uninterpretable. If you depend on the evaluated | |

jacobian, do not use remove! This may change in a future release. | |

.. function:: void Problem::SetParameterBlockConstant(double* values) | |

Hold the indicated parameter block constant during optimization. | |

.. function:: void Problem::SetParameterBlockVariable(double* values) | |

Allow the indicated parameter to vary during optimization. | |

.. function:: void Problem::SetParameterization(double* values, LocalParameterization* local_parameterization) | |

Set the local parameterization for one of the parameter blocks. | |

The local_parameterization is owned by the Problem by default. It | |

is acceptable to set the same parameterization for multiple | |

parameters; the destructor is careful to delete local | |

parameterizations only once. The local parameterization can only be | |

set once per parameter, and cannot be changed once set. | |

.. function:: LocalParameterization* Problem::GetParameterization(double* values) const | |

Get the local parameterization object associated with this | |

parameter block. If there is no parameterization object associated | |

then `NULL` is returned | |

.. function:: void Problem::SetParameterLowerBound(double* values, int index, double lower_bound) | |

Set the lower bound for the parameter at position `index` in the | |

parameter block corresponding to `values`. By default the lower | |

bound is :math:`-\infty`. | |

.. function:: void Problem::SetParameterUpperBound(double* values, int index, double upper_bound) | |

Set the upper bound for the parameter at position `index` in the | |

parameter block corresponding to `values`. By default the value is | |

:math:`\infty`. | |

.. function:: int Problem::NumParameterBlocks() const | |

Number of parameter blocks in the problem. Always equals | |

parameter_blocks().size() and parameter_block_sizes().size(). | |

.. function:: int Problem::NumParameters() const | |

The size of the parameter vector obtained by summing over the sizes | |

of all the parameter blocks. | |

.. function:: int Problem::NumResidualBlocks() const | |

Number of residual blocks in the problem. Always equals | |

residual_blocks().size(). | |

.. function:: int Problem::NumResiduals() const | |

The size of the residual vector obtained by summing over the sizes | |

of all of the residual blocks. | |

.. function:: int Problem::ParameterBlockSize(const double* values) const | |

The size of the parameter block. | |

.. function:: int Problem::ParameterBlockLocalSize(const double* values) const | |

The size of local parameterization for the parameter block. If | |

there is no local parameterization associated with this parameter | |

block, then ``ParameterBlockLocalSize`` = ``ParameterBlockSize``. | |

.. function:: bool Problem::HasParameterBlock(const double* values) const | |

Is the given parameter block present in the problem or not? | |

.. function:: void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const | |

Fills the passed ``parameter_blocks`` vector with pointers to the | |

parameter blocks currently in the problem. After this call, | |

``parameter_block.size() == NumParameterBlocks``. | |

.. function:: void Problem::GetResidualBlocks(vector<ResidualBlockId>* residual_blocks) const | |

Fills the passed `residual_blocks` vector with pointers to the | |

residual blocks currently in the problem. After this call, | |

`residual_blocks.size() == NumResidualBlocks`. | |

.. function:: void Problem::GetParameterBlocksForResidualBlock(const ResidualBlockId residual_block, vector<double*>* parameter_blocks) const | |

Get all the parameter blocks that depend on the given residual | |

block. | |

.. function:: void Problem::GetResidualBlocksForParameterBlock(const double* values, vector<ResidualBlockId>* residual_blocks) const | |

Get all the residual blocks that depend on the given parameter | |

block. | |

If `Problem::Options::enable_fast_removal` is | |

`true`, then getting the residual blocks is fast and depends only | |

on the number of residual blocks. Otherwise, getting the residual | |

blocks for a parameter block will incur a scan of the entire | |

:class:`Problem` object. | |

.. function:: const CostFunction* GetCostFunctionForResidualBlock(const ResidualBlockId residual_block) const | |

Get the :class:`CostFunction` for the given residual block. | |

.. function:: const LossFunction* GetLossFunctionForResidualBlock(const ResidualBlockId residual_block) const | |

Get the :class:`LossFunction` for the given residual block. | |

.. function:: bool Problem::Evaluate(const Problem::EvaluateOptions& options, double* cost, vector<double>* residuals, vector<double>* gradient, CRSMatrix* jacobian) | |

Evaluate a :class:`Problem`. Any of the output pointers can be | |

`NULL`. Which residual blocks and parameter blocks are used is | |

controlled by the :class:`Problem::EvaluateOptions` struct below. | |

.. code-block:: c++ | |

Problem problem; | |

double x = 1; | |

problem.Add(new MyCostFunction, NULL, &x); | |

double cost = 0.0; | |

problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL); | |

The cost is evaluated at `x = 1`. If you wish to evaluate the | |

problem at `x = 2`, then | |

.. code-block:: c++ | |

x = 2; | |

problem.Evaluate(Problem::EvaluateOptions(), &cost, NULL, NULL, NULL); | |

is the way to do so. | |

**NOTE** If no local parameterizations are used, then the size of | |

the gradient vector is the sum of the sizes of all the parameter | |

blocks. If a parameter block has a local parameterization, then | |

it contributes "LocalSize" entries to the gradient vector. | |

.. class:: Problem::EvaluateOptions | |

Options struct that is used to control :func:`Problem::Evaluate`. | |

.. member:: vector<double*> Problem::EvaluateOptions::parameter_blocks | |

The set of parameter blocks for which evaluation should be | |

performed. This vector determines the order in which parameter | |

blocks occur in the gradient vector and in the columns of the | |

jacobian matrix. If parameter_blocks is empty, then it is assumed | |

to be equal to a vector containing ALL the parameter | |

blocks. Generally speaking the ordering of the parameter blocks in | |

this case depends on the order in which they were added to the | |

problem and whether or not the user removed any parameter blocks. | |

**NOTE** This vector should contain the same pointers as the ones | |

used to add parameter blocks to the Problem. These parameter block | |

should NOT point to new memory locations. Bad things will happen if | |

you do. | |

.. member:: vector<ResidualBlockId> Problem::EvaluateOptions::residual_blocks | |

The set of residual blocks for which evaluation should be | |

performed. This vector determines the order in which the residuals | |

occur, and how the rows of the jacobian are ordered. If | |

residual_blocks is empty, then it is assumed to be equal to the | |

vector containing all the parameter blocks. | |

``rotation.h`` | |

============== | |

Many applications of Ceres Solver involve optimization problems where | |

some of the variables correspond to rotations. To ease the pain of | |

work with the various representations of rotations (angle-axis, | |

quaternion and matrix) we provide a handy set of templated | |

functions. These functions are templated so that the user can use them | |

within Ceres Solver's automatic differentiation framework. | |

.. function:: void AngleAxisToQuaternion<T>(T const* angle_axis, T* quaternion) | |

Convert a value in combined axis-angle representation to a | |

quaternion. | |

The value ``angle_axis`` is a triple whose norm is an angle in radians, | |

and whose direction is aligned with the axis of rotation, and | |

``quaternion`` is a 4-tuple that will contain the resulting quaternion. | |

.. function:: void QuaternionToAngleAxis<T>(T const* quaternion, T* angle_axis) | |

Convert a quaternion to the equivalent combined axis-angle | |

representation. | |

The value ``quaternion`` must be a unit quaternion - it is not | |

normalized first, and ``angle_axis`` will be filled with a value | |

whose norm is the angle of rotation in radians, and whose direction | |

is the axis of rotation. | |

.. function:: void RotationMatrixToAngleAxis<T, row_stride, col_stride>(const MatrixAdapter<const T, row_stride, col_stride>& R, T * angle_axis) | |

.. function:: void AngleAxisToRotationMatrix<T, row_stride, col_stride>(T const * angle_axis, const MatrixAdapter<T, row_stride, col_stride>& R) | |

.. function:: void RotationMatrixToAngleAxis<T>(T const * R, T * angle_axis) | |

.. function:: void AngleAxisToRotationMatrix<T>(T const * angle_axis, T * R) | |

Conversions between 3x3 rotation matrix with given column and row strides and | |

axis-angle rotation representations. The functions that take a pointer to T instead | |

of a MatrixAdapter assume a column major representation with unit row stride and a column stride of 3. | |

.. function:: void EulerAnglesToRotationMatrix<T, row_stride, col_stride>(const T* euler, const MatrixAdapter<T, row_stride, col_stride>& R) | |

.. function:: void EulerAnglesToRotationMatrix<T>(const T* euler, int row_stride, T* R) | |

Conversions between 3x3 rotation matrix with given column and row strides and | |

Euler angle (in degrees) rotation representations. | |

The {pitch,roll,yaw} Euler angles are rotations around the {x,y,z} | |

axes, respectively. They are applied in that same order, so the | |

total rotation R is Rz * Ry * Rx. | |

The function that takes a pointer to T as the rotation matrix assumes a row | |

major representation with unit column stride and a row stride of 3. | |

The additional parameter row_stride is required to be 3. | |

.. function:: void QuaternionToScaledRotation<T, row_stride, col_stride>(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R) | |

.. function:: void QuaternionToScaledRotation<T>(const T q[4], T R[3 * 3]) | |

Convert a 4-vector to a 3x3 scaled rotation matrix. | |

The choice of rotation is such that the quaternion | |

:math:`\begin{bmatrix} 1 &0 &0 &0\end{bmatrix}` goes to an identity | |

matrix and for small :math:`a, b, c` the quaternion | |

:math:`\begin{bmatrix}1 &a &b &c\end{bmatrix}` goes to the matrix | |

.. math:: | |

I + 2 \begin{bmatrix} 0 & -c & b \\ c & 0 & -a\\ -b & a & 0 | |

\end{bmatrix} + O(q^2) | |

which corresponds to a Rodrigues approximation, the last matrix | |

being the cross-product matrix of :math:`\begin{bmatrix} a& b& | |

c\end{bmatrix}`. Together with the property that :math:`R(q1 * q2) | |

= R(q1) * R(q2)` this uniquely defines the mapping from :math:`q` to | |

:math:`R`. | |

In the function that accepts a pointer to T instead of a MatrixAdapter, | |

the rotation matrix ``R`` is a row-major matrix with unit column stride | |

and a row stride of 3. | |

No normalization of the quaternion is performed, i.e. | |

:math:`R = \|q\|^2 Q`, where :math:`Q` is an orthonormal matrix | |

such that :math:`\det(Q) = 1` and :math:`Q*Q' = I`. | |

.. function:: void QuaternionToRotation<T>(const T q[4], const MatrixAdapter<T, row_stride, col_stride>& R) | |

.. function:: void QuaternionToRotation<T>(const T q[4], T R[3 * 3]) | |

Same as above except that the rotation matrix is normalized by the | |

Frobenius norm, so that :math:`R R' = I` (and :math:`\det(R) = 1`). | |

.. function:: void UnitQuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3]) | |

Rotates a point pt by a quaternion q: | |

.. math:: \text{result} = R(q) \text{pt} | |

Assumes the quaternion is unit norm. If you pass in a quaternion | |

with :math:`|q|^2 = 2` then you WILL NOT get back 2 times the | |

result you get for a unit quaternion. | |

.. function:: void QuaternionRotatePoint<T>(const T q[4], const T pt[3], T result[3]) | |

With this function you do not need to assume that :math:`q` has unit norm. | |

It does assume that the norm is non-zero. | |

.. function:: void QuaternionProduct<T>(const T z[4], const T w[4], T zw[4]) | |

.. math:: zw = z * w | |

where :math:`*` is the Quaternion product between 4-vectors. | |

.. function:: void CrossProduct<T>(const T x[3], const T y[3], T x_cross_y[3]) | |

.. math:: \text{x_cross_y} = x \times y | |

.. function:: void AngleAxisRotatePoint<T>(const T angle_axis[3], const T pt[3], T result[3]) | |

.. math:: y = R(\text{angle_axis}) x |