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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/numeric_diff_cost_function.h
+26 -12
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@@ -95,6 +95,21 @@
// "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing
// a 1-dimensional output from two arguments, both 2-dimensional.
//
// NumericDiffCostFunction also supports cost functions with a
// runtime-determined number of residuals. For example:
//
// CostFunction* cost_function
// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>(
// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^
// TAKE_OWNERSHIP, | | |
// runtime_number_of_residuals); <----+ | | |
// | | | |
// | | | |
// Actual number of residuals ------+ | | |
// Indicate dynamic number of residuals --------+ | |
// Dimension of x ------------------------------------+ |
// Dimension of y ---------------------------------------+
//
// 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.
@@ -104,8 +119,6 @@
// central differences begin with, and only after that works, trying forward
// difference to improve performance.
//
// TODO(sameeragarwal): Add support for dynamic number of residuals.
//
// WARNING #1: A common beginner's error when first using
// NumericDiffCostFunction is to get the sizing wrong. In particular,
// there is a tendency to set the template parameters to (dimension of
@@ -177,17 +190,17 @@ class NumericDiffCostFunction
N5, N6, N7, N8, N9> {
public:
NumericDiffCostFunction(CostFunctor* functor,
Ownership ownership = TAKE_OWNERSHIP,
int num_residuals = kNumResiduals,
const double relative_step_size = 1e-6)
:functor_(functor),
ownership_(TAKE_OWNERSHIP),
relative_step_size_(relative_step_size) {}
NumericDiffCostFunction(CostFunctor* functor,
Ownership ownership,
const double relative_step_size = 1e-6)
: functor_(functor),
ownership_(ownership),
relative_step_size_(relative_step_size) {}
ownership_(ownership),
relative_step_size_(relative_step_size) {
if (kNumResiduals == DYNAMIC) {
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
}
}
~NumericDiffCostFunction() {
if (ownership_ != TAKE_OWNERSHIP) {
@@ -216,7 +229,7 @@ class NumericDiffCostFunction
return false;
}
if (!jacobians) {
if (jacobians == NULL) {
return true;
}
@@ -264,6 +277,7 @@ class NumericDiffCostFunction
functor_.get(), \
residuals, \
relative_step_size_, \
SizedCostFunction<kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::num_residuals(), \
parameters_reference_copy.get(), \
jacobians[block])) { \
return false; \