mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-31 01:20:38 +08:00
NumericDiffFunctor.
A wrapper class that takes a variadic functor evaluating a function, numerically differentiates it and makes it available as a templated functor so that it can be easily used as part of Ceres' automatic differentiation framework. The tests for NumericDiffCostFunction and NumericDiffFunctor have a lot of stuff that is common, so refactor them to reduce code. Change-Id: I83b01e58b05e575fb2530d15cbd611928298646a
This commit is contained in:
Sameer Agarwal
@@ -0,0 +1,341 @@
|
||||
// Ceres Solver - A fast non-linear least squares minimizer
|
||||
// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal)
|
||||
//
|
||||
// A wrapper class that takes a variadic functor evaluating a
|
||||
// function, numerically differentiates it and makes it available as a
|
||||
// templated functor so that it can be easily used as part of Ceres'
|
||||
// automatic differentiation framework.
|
||||
//
|
||||
// For example:
|
||||
//
|
||||
// For example, let us assume that
|
||||
//
|
||||
// struct IntrinsicProjection
|
||||
// IntrinsicProjection(const double* observations);
|
||||
// bool operator()(const double* calibration,
|
||||
// const double* point,
|
||||
// double* residuals);
|
||||
// };
|
||||
//
|
||||
// is a functor that implements the projection of a point in its local
|
||||
// coordinate system onto its image plane and subtracts it from the
|
||||
// observed point projection.
|
||||
//
|
||||
// Now we would like to compose the action of this functor with the
|
||||
// action of camera extrinsics, i.e., rotation and translation, which
|
||||
// is given by the following templated function
|
||||
//
|
||||
// template<typename T>
|
||||
// void RotateAndTranslatePoint(const T* rotation,
|
||||
// const T* translation,
|
||||
// const T* point,
|
||||
// T* result);
|
||||
//
|
||||
// To compose the extrinsics and intrinsics, we can construct a
|
||||
// CameraProjection functor as follows.
|
||||
//
|
||||
// struct CameraProjection {
|
||||
// typedef NumericDiffFunctor<IntrinsicProjection, CENTRAL, 2, 5, 3>
|
||||
// IntrinsicProjectionFunctor;
|
||||
//
|
||||
// CameraProjection(double* observation) {
|
||||
// intrinsic_projection_.reset(
|
||||
// new IntrinsicProjectionFunctor(observation)) {
|
||||
// }
|
||||
//
|
||||
// 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:
|
||||
// scoped_ptr<IntrinsicProjectionFunctor> intrinsic_projection_;
|
||||
// };
|
||||
//
|
||||
// Here, we made the choice of using CENTRAL differences to compute
|
||||
// the jacobian of IntrinsicProjection.
|
||||
//
|
||||
// Now, we are ready to construct an automatically differentiated cost
|
||||
// function as
|
||||
//
|
||||
// CostFunction* cost_function =
|
||||
// new AutoDiffCostFunction<CameraProjection, 2, 3, 3, 5>(
|
||||
// new CameraProjection(observations));
|
||||
//
|
||||
// cost_function now seamlessly integrates automatic differentiation
|
||||
// of RotateAndTranslatePoint with a numerically differentiated
|
||||
// version of IntrinsicProjection.
|
||||
|
||||
#include "ceres/numeric_diff_cost_function.h"
|
||||
#include "ceres/types.h"
|
||||
#include "ceres/cost_function_to_functor.h"
|
||||
|
||||
namespace ceres {
|
||||
|
||||
template<typename Functor,
|
||||
NumericDiffMethod kMethod = CENTRAL,
|
||||
int kNumResiduals = 0,
|
||||
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 NumericDiffFunctor {
|
||||
public:
|
||||
// relative_step_size controls the step size used by the numeric
|
||||
// differentiation process.
|
||||
NumericDiffFunctor(double relative_step_size = 1e-6)
|
||||
: functor_(new NumericDiffCostFunction<Functor,
|
||||
kMethod,
|
||||
kNumResiduals,
|
||||
N0, N1, N2, N3, N4,
|
||||
N5, N6, N7, N8, N9>(
|
||||
new Functor, relative_step_size)) {
|
||||
}
|
||||
|
||||
NumericDiffFunctor(Functor* functor, double relative_step_size = 1e-6)
|
||||
: functor_(new NumericDiffCostFunction<Functor,
|
||||
kMethod,
|
||||
kNumResiduals,
|
||||
N0, N1, N2, N3, N4,
|
||||
N5, N6, N7, N8, N9>(
|
||||
functor, relative_step_size)) {
|
||||
}
|
||||
|
||||
bool operator()(const double* x0, double* residuals) const {
|
||||
functor_(x0, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
const double* x5,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
const double* x5,
|
||||
const double* x6,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
const double* x5,
|
||||
const double* x6,
|
||||
const double* x7,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
const double* x5,
|
||||
const double* x6,
|
||||
const double* x7,
|
||||
const double* x8,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals);
|
||||
}
|
||||
|
||||
bool operator()(const double* x0,
|
||||
const double* x1,
|
||||
const double* x2,
|
||||
const double* x3,
|
||||
const double* x4,
|
||||
const double* x5,
|
||||
const double* x6,
|
||||
const double* x7,
|
||||
const double* x8,
|
||||
const double* x9,
|
||||
double* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0, T* residuals) const {
|
||||
functor_(x0, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
const T* x5,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
const T* x5,
|
||||
const T* x6,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
const T* x5,
|
||||
const T* x6,
|
||||
const T* x7,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
const T* x5,
|
||||
const T* x6,
|
||||
const T* x7,
|
||||
const T* x8,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
bool operator()(const T* x0,
|
||||
const T* x1,
|
||||
const T* x2,
|
||||
const T* x3,
|
||||
const T* x4,
|
||||
const T* x5,
|
||||
const T* x6,
|
||||
const T* x7,
|
||||
const T* x8,
|
||||
const T* x9,
|
||||
T* residuals) const {
|
||||
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals);
|
||||
}
|
||||
|
||||
|
||||
private:
|
||||
CostFunctionToFunctor<kNumResiduals,
|
||||
N0, N1, N2, N3, N4,
|
||||
N5, N6, N7, N8, N9> functor_;
|
||||
|
||||
};
|
||||
|
||||
} // namespace ceres
|
||||
Reference in New Issue
Block a user