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Deprecate LocalParameterizations

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Add [[deprecate]] notices to everything LocalParameterization
related.

Make sure that Ceres can be compiled without triggering
deprecation warnings.

Update the documentation:

a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
   coexisting in the Problem.
c. Add documentation for Manifold(s)

Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
This commit is contained in:
Sameer Agarwal
2022-01-24 11:39:21 -08:00
parent fdfa5184a5
commit 0141ca090c
22 changed files with 1159 additions and 204 deletions
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include/ceres/local_parameterization.h
+50 -41
View File
@@ -41,6 +41,9 @@
namespace ceres {
// WARNING: LocalParameterizations are deprecated. They will be removed from
// Ceres Solver in version 2.2.0. Please use Manifolds instead.
// Purpose: Sometimes parameter blocks x can overparameterize a problem
//
// min f(x)
@@ -111,7 +114,10 @@ namespace ceres {
//
// The class LocalParameterization defines the function Plus and its
// Jacobian which is needed to compute the Jacobian of f w.r.t delta.
class CERES_EXPORT LocalParameterization {
class [[deprecated(
"LocalParameterizations will be removed from the Ceres Solver API in "
"version 2.2.0. Use Manifolds instead.")]] CERES_EXPORT
LocalParameterization {
public:
virtual ~LocalParameterization();
@@ -120,9 +126,9 @@ class CERES_EXPORT LocalParameterization {
// x_plus_delta = Plus(x, delta)
//
// with the condition that Plus(x, 0) = x.
virtual bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const = 0;
//
virtual bool Plus(const double* x, const double* delta, double* x_plus_delta)
const = 0;
// The jacobian of Plus(x, delta) w.r.t delta at delta = 0.
//
@@ -152,12 +158,13 @@ class CERES_EXPORT LocalParameterization {
// Some basic parameterizations
// Identity Parameterization: Plus(x, delta) = x + delta
class CERES_EXPORT IdentityParameterization : public LocalParameterization {
class [[deprecated(
"Use EuclideanManifold instead.")]] CERES_EXPORT IdentityParameterization
: public LocalParameterization {
public:
explicit IdentityParameterization(int size);
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
bool MultiplyByJacobian(const double* x,
const int num_cols,
@@ -171,13 +178,14 @@ class CERES_EXPORT IdentityParameterization : public LocalParameterization {
};
// Hold a subset of the parameters inside a parameter block constant.
class CERES_EXPORT SubsetParameterization : public LocalParameterization {
class [[deprecated(
"Use SubsetManifold instead.")]] CERES_EXPORT SubsetParameterization
: public LocalParameterization {
public:
explicit SubsetParameterization(int size,
const std::vector<int>& constant_parameters);
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
bool MultiplyByJacobian(const double* x,
const int num_cols,
@@ -197,11 +205,12 @@ class CERES_EXPORT SubsetParameterization : public LocalParameterization {
// with * being the quaternion multiplication operator. Here we assume
// that the first element of the quaternion vector is the real (cos
// theta) part.
class CERES_EXPORT QuaternionParameterization : public LocalParameterization {
class [[deprecated(
"Use QuaternionManifold instead.")]] CERES_EXPORT QuaternionParameterization
: public LocalParameterization {
public:
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return 4; }
int LocalSize() const override { return 3; }
@@ -218,37 +227,36 @@ class CERES_EXPORT QuaternionParameterization : public LocalParameterization {
//
// Plus(x, delta) = [sin(|delta|) delta / |delta|, cos(|delta|)] * x
// with * being the quaternion multiplication operator.
class CERES_EXPORT EigenQuaternionParameterization
: public ceres::LocalParameterization {
class [[deprecated("Use EigenQuaternionManifold instead.")]] CERES_EXPORT
EigenQuaternionParameterization : public ceres::LocalParameterization {
public:
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return 4; }
int LocalSize() const override { return 3; }
};
// This provides a parameterization for homogeneous vectors which are commonly
// used 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.
// used in Structure from 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
//
// with * defined as an operator which applies the update orthogonal to x to
// remain on the sphere. We assume that the last element of x is the scalar
// component. The size of the homogeneous vector is required to be greater than
// 1.
class CERES_EXPORT HomogeneousVectorParameterization
: public LocalParameterization {
class [[deprecated("Use SphereManifold instead.")]] CERES_EXPORT
HomogeneousVectorParameterization : public LocalParameterization {
public:
explicit HomogeneousVectorParameterization(int size);
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return size_; }
int LocalSize() const override { return size_ - 1; }
@@ -271,14 +279,14 @@ class CERES_EXPORT HomogeneousVectorParameterization
// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
// for the case Graff_1(R^n).
template <int AmbientSpaceDimension>
class LineParameterization : public LocalParameterization {
class [[deprecated("Use LineManifold instead.")]] LineParameterization
: public LocalParameterization {
public:
static_assert(AmbientSpaceDimension >= 2,
"The ambient space must be at least 2");
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return 2 * AmbientSpaceDimension; }
int LocalSize() const override { return 2 * (AmbientSpaceDimension - 1); }
@@ -297,7 +305,10 @@ class LineParameterization : public LocalParameterization {
//
// is the local parameterization for a rigid transformation, where the
// rotation is represented using a quaternion.
class CERES_EXPORT ProductParameterization : public LocalParameterization {
//
class [[deprecated(
"Use ProductManifold instead.")]] CERES_EXPORT ProductParameterization
: public LocalParameterization {
public:
ProductParameterization(const ProductParameterization&) = delete;
ProductParameterization& operator=(const ProductParameterization&) = delete;
@@ -306,7 +317,7 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
// parameterizations.
//
template <typename... LocalParams>
ProductParameterization(LocalParams*... local_params)
ProductParameterization(LocalParams * ... local_params)
: local_params_(sizeof...(LocalParams)),
local_size_{0},
global_size_{0},
@@ -333,11 +344,9 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
}
}
bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const override;
bool ComputeJacobian(const double* x,
double* jacobian) const override;
bool Plus(const double* x, const double* delta, double* x_plus_delta)
const override;
bool ComputeJacobian(const double* x, double* jacobian) const override;
int GlobalSize() const override { return global_size_; }
int LocalSize() const override { return local_size_; }