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NumericDiffCostFunction supports dynamic number of residuals.

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1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.

2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.

Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
This commit is contained in:
Sameer Agarwal
2013-10-03 07:12:14 -07:00
committed by Keir Mierle
parent 835ae9a639
commit 3a2158d728
6 changed files with 132 additions and 53 deletions
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include/ceres/autodiff_cost_function.h
+22 -19
View File
@@ -96,7 +96,7 @@
// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing a
// 1-dimensional output from two arguments, both 2-dimensional.
//
// The autodiff cost function also supports cost functions with a
// AutoDiffCostFunction also supports cost functions with a
// runtime-determined number of residuals. For example:
//
// CostFunction* cost_function
@@ -110,8 +110,9 @@
// Dimension of x ------------------------------------+ |
// Dimension of y ---------------------------------------+
//
// The framework can currently accommodate cost functions of up to 6 independent
// variables, and there is no limit on the dimensionality of each of them.
// 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 to convert from other numeric types to T before mixing
@@ -145,13 +146,13 @@ namespace ceres {
//
// The constructors take ownership of the cost functor.
//
// If the number of residuals (argument "M" below) is ceres::DYNAMIC, then the
// two-argument constructor must be used. The second constructor takes a number
// of residuals (in addition to the templated number of residuals). This allows
// for varying the number of residuals for a single autodiff cost function at
// runtime.
// If the number of residuals (argument kNumResiduals below) is
// ceres::DYNAMIC, then the two-argument constructor must be used. The
// second constructor takes a number of residuals (in addition to the
// templated number of residuals). This allows for varying the number
// of residuals for a single autodiff cost function at runtime.
template <typename CostFunctor,
int M, // Number of residuals, or ceres::DYNAMIC.
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.
@@ -162,28 +163,30 @@ template <typename CostFunctor,
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<M,
class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9> {
public:
// Takes ownership of functor. Uses the template-provided value for the
// number of residuals ("M").
// number of residuals ("kNumResiduals").
explicit AutoDiffCostFunction(CostFunctor* functor)
: functor_(functor) {
CHECK_NE(M, DYNAMIC) << "Can't run the fixed-size constructor if the "
<< "number of residuals is set to ceres::DYNAMIC.";
CHECK_NE(kNumResiduals, DYNAMIC)
<< "Can't run the fixed-size constructor if the "
<< "number of residuals is set to ceres::DYNAMIC.";
}
// Takes ownership of functor. Ignores the template-provided number of
// residuals ("M") in favor of the "num_residuals" argument provided.
// Takes ownership of functor. Ignores the template-provided
// kNumResiduals in favor of the "num_residuals" argument provided.
//
// This allows for having autodiff cost functions which return varying
// numbers of residuals at runtime.
AutoDiffCostFunction(CostFunctor* functor, int num_residuals)
: functor_(functor) {
CHECK_EQ(M, DYNAMIC) << "Can't run the dynamic-size constructor if the "
<< "number of residuals is not ceres::DYNAMIC.";
SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
CHECK_EQ(kNumResiduals, DYNAMIC)
<< "Can't run the dynamic-size constructor if the "
<< "number of residuals is not ceres::DYNAMIC.";
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
@@ -206,7 +209,7 @@ class AutoDiffCostFunction : public SizedCostFunction<M,
N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
*functor_,
parameters,
SizedCostFunction<M, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
::num_residuals(),
residuals,
jacobians);