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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: keir@google.com (Keir Mierle)
#include "ceres/program.h"
#include <map>
#include <vector>
#include "ceres/casts.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/cost_function.h"
#include "ceres/evaluator.h"
#include "ceres/internal/port.h"
#include "ceres/local_parameterization.h"
#include "ceres/loss_function.h"
#include "ceres/map_util.h"
#include "ceres/parameter_block.h"
#include "ceres/problem.h"
#include "ceres/residual_block.h"
#include "ceres/stl_util.h"
namespace ceres {
namespace internal {
Program::Program() {}
Program::Program(const Program& program)
: parameter_blocks_(program.parameter_blocks_),
residual_blocks_(program.residual_blocks_) {
}
const vector<ParameterBlock*>& Program::parameter_blocks() const {
return parameter_blocks_;
}
const vector<ResidualBlock*>& Program::residual_blocks() const {
return residual_blocks_;
}
vector<ParameterBlock*>* Program::mutable_parameter_blocks() {
return &parameter_blocks_;
}
vector<ResidualBlock*>* Program::mutable_residual_blocks() {
return &residual_blocks_;
}
bool Program::StateVectorToParameterBlocks(const double *state) {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
if (!parameter_blocks_[i]->IsConstant() &&
!parameter_blocks_[i]->SetState(state)) {
return false;
}
state += parameter_blocks_[i]->Size();
}
return true;
}
void Program::ParameterBlocksToStateVector(double *state) const {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
parameter_blocks_[i]->GetState(state);
state += parameter_blocks_[i]->Size();
}
}
void Program::CopyParameterBlockStateToUserState() {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
parameter_blocks_[i]->GetState(parameter_blocks_[i]->mutable_user_state());
}
}
bool Program::SetParameterBlockStatePtrsToUserStatePtrs() {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
if (!parameter_blocks_[i]->IsConstant() &&
!parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
return false;
}
}
return true;
}
bool Program::Plus(const double* state,
const double* delta,
double* state_plus_delta) const {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
if (!parameter_blocks_[i]->Plus(state, delta, state_plus_delta)) {
return false;
}
state += parameter_blocks_[i]->Size();
delta += parameter_blocks_[i]->LocalSize();
state_plus_delta += parameter_blocks_[i]->Size();
}
return true;
}
void Program::SetParameterOffsetsAndIndex() {
// Set positions for all parameters appearing as arguments to residuals to one
// past the end of the parameter block array.
for (int i = 0; i < residual_blocks_.size(); ++i) {
ResidualBlock* residual_block = residual_blocks_[i];
for (int j = 0; j < residual_block->NumParameterBlocks(); ++j) {
residual_block->parameter_blocks()[j]->set_index(-1);
}
}
// For parameters that appear in the program, set their position and offset.
int state_offset = 0;
int delta_offset = 0;
for (int i = 0; i < parameter_blocks_.size(); ++i) {
parameter_blocks_[i]->set_index(i);
parameter_blocks_[i]->set_state_offset(state_offset);
parameter_blocks_[i]->set_delta_offset(delta_offset);
state_offset += parameter_blocks_[i]->Size();
delta_offset += parameter_blocks_[i]->LocalSize();
}
}
int Program::NumResidualBlocks() const {
return residual_blocks_.size();
}
int Program::NumParameterBlocks() const {
return parameter_blocks_.size();
}
int Program::NumResiduals() const {
int num_residuals = 0;
for (int i = 0; i < residual_blocks_.size(); ++i) {
num_residuals += residual_blocks_[i]->NumResiduals();
}
return num_residuals;
}
int Program::NumParameters() const {
int num_parameters = 0;
for (int i = 0; i < parameter_blocks_.size(); ++i) {
num_parameters += parameter_blocks_[i]->Size();
}
return num_parameters;
}
int Program::NumEffectiveParameters() const {
int num_parameters = 0;
for (int i = 0; i < parameter_blocks_.size(); ++i) {
num_parameters += parameter_blocks_[i]->LocalSize();
}
return num_parameters;
}
int Program::MaxScratchDoublesNeededForEvaluate() const {
// Compute the scratch space needed for evaluate.
int max_scratch_bytes_for_evaluate = 0;
for (int i = 0; i < residual_blocks_.size(); ++i) {
max_scratch_bytes_for_evaluate =
max(max_scratch_bytes_for_evaluate,
residual_blocks_[i]->NumScratchDoublesForEvaluate());
}
return max_scratch_bytes_for_evaluate;
}
int Program::MaxDerivativesPerResidualBlock() const {
int max_derivatives = 0;
for (int i = 0; i < residual_blocks_.size(); ++i) {
int derivatives = 0;
ResidualBlock* residual_block = residual_blocks_[i];
int num_parameters = residual_block->NumParameterBlocks();
for (int j = 0; j < num_parameters; ++j) {
derivatives += residual_block->NumResiduals() *
residual_block->parameter_blocks()[j]->LocalSize();
}
max_derivatives = max(max_derivatives, derivatives);
}
return max_derivatives;
}
int Program::MaxParametersPerResidualBlock() const {
int max_parameters = 0;
for (int i = 0; i < residual_blocks_.size(); ++i) {
max_parameters = max(max_parameters,
residual_blocks_[i]->NumParameterBlocks());
}
return max_parameters;
}
int Program::MaxResidualsPerResidualBlock() const {
int max_residuals = 0;
for (int i = 0; i < residual_blocks_.size(); ++i) {
max_residuals = max(max_residuals,
residual_blocks_[i]->NumResiduals());
}
return max_residuals;
}
string Program::ToString() const {
string ret = "Program dump\n";
ret += StringPrintf("Number of parameter blocks: %d\n", NumParameterBlocks());
ret += StringPrintf("Number of parameters: %d\n", NumParameters());
ret += "Parameters:\n";
for (int i = 0; i < parameter_blocks_.size(); ++i) {
ret += StringPrintf("%d: %s\n",
i, parameter_blocks_[i]->ToString().c_str());
}
return ret;
}
} // namespace internal
} // namespace ceres