internal/ceres/program.cc

// 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.
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//   used to endorse or promote products derived from this software without
//   specific prior written permission.
//
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// Author: keir@google.com (Keir Mierle)

#include "ceres/program.h"

#include <map>
#include <vector>
#include "ceres/parameter_block.h"
#include "ceres/residual_block.h"
#include "ceres/stl_util.h"
#include "ceres/map_util.h"
#include "ceres/problem.h"
#include "ceres/cost_function.h"
#include "ceres/loss_function.h"
#include "ceres/local_parameterization.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]->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]->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;
}

bool Program::Evaluate(double* cost, double* residuals) {
  *cost = 0.0;

  // Scratch space is only needed if residuals is NULL.
  scoped_array<double> scratch;
  if (residuals == NULL) {
    scratch.reset(new double[MaxScratchDoublesNeededForEvaluate()]);
  } else {
    // TODO(keir): Is this needed? Check by removing the equivalent statement in
    // dense_evaluator.cc and running the tests.
    VectorRef(residuals, NumResiduals()).setZero();
  }

  for (int i = 0; i < residual_blocks_.size(); ++i) {
    ResidualBlock* residual_block = residual_blocks_[i];

    // Evaluate the cost function for this residual.
    double residual_cost;
    if (!residual_block->Evaluate(&residual_cost,
                                  residuals,
                                  NULL,  // No jacobian.
                                  scratch.get())) {
      return false;
    }

    // Accumulate residual cost into the total cost.
    *cost += residual_cost;

    // Update the residuals cursor.
    if (residuals != NULL) {
      residuals += residual_block->NumResiduals();
    }
  }
  return true;
}

}  // namespace internal
}  // namespace ceres