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NULL-jacobians are handled correctly in generated autodiff code

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The autodiff code generator is extended in the following ways:
  - Evaluate the complete jacobian into a temporary array
  - Copy the temporary jacobian to the result if != NULL

Change-Id: If5ed0bff3b31e93a2d7d5dc718862cb648dba474
This commit is contained in:
Darius Rueckert
2019-12-10 10:28:03 +01:00
parent edd54b83e1
commit 47e784bb41
1 changed files with 57 additions and 12 deletions
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include/ceres/codegen/autodiff.h
+57 -12
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@@ -131,7 +131,7 @@ std::vector<std::string> GenerateCodeForFunctor(
// jacobians[0][1] = v_352;
// ...
for (int i = 0, total_param_id = 0; i < kNumParameterBlocks;
++i, total_param_id += ParameterDims::GetDim(i)) {
total_param_id += ParameterDims::GetDim(i), ++i) {
for (int r = 0; r < kNumResiduals; ++r) {
for (int j = 0; j < ParameterDims::GetDim(i); ++j) {
internal::MakeOutput(
@@ -191,20 +191,65 @@ std::vector<std::string> GenerateCodeForFunctor(
// EvaluateResidualAndJacobian. This combined function is compatible to
// CostFunction::Evaluate. Therefore the generated code can be directly used
// in SizedCostFunctions.
output.emplace_back("bool Evaluate(double const* const* parameters,");
output.emplace_back(" double* residuals,");
output.emplace_back(" double** jacobians)");
output.emplace_back("{");
output.emplace_back(" if (residuals && jacobians) {");
output.emplace_back(" EvaluateResidualAndJacobian(");
output.emplace_back(" parameters,");
output.emplace_back(" residuals,");
output.emplace_back(" jacobians);");
output.emplace_back(" }");
output.emplace_back(" else if (residuals) {");
output.emplace_back(" EvaluateResidual(parameters,residuals);");
output.emplace_back(" double** jacobians) {");
output.emplace_back(" if (jacobians) {");
// Create a tmp array of all jacobians and use it for evaluation.
// The generated code for a <2,3,1,2> cost functor is:
// double jacobians_data[6];
// double* jacobians_ptrs[] = {
// jacobians_data + 0,
// jacobians_data + 6,
// jacobians_data + 8,
// };
output.emplace_back(" double jacobians_data[" +
std::to_string(kNumParameters * kNumResiduals) + "];");
output.emplace_back(" double* jacobians_ptrs[] = {");
for (int i = 0, total_param_id = 0; i < kNumParameterBlocks;
total_param_id += ParameterDims::GetDim(i), ++i) {
output.emplace_back(" jacobians_data + " +
std::to_string(kNumResiduals * total_param_id) + ",");
}
output.emplace_back(" };");
// Evaluate into the tmp array.
output.emplace_back(
" EvaluateResidualAndJacobian(parameters, residuals, "
"jacobians_ptrs);");
// Copy the computed jacobians into the output array. Add an if-statement to
// test for null-jacobians. The generated code for a <2,3,1,2> cost functor
// is:
// if (jacobians[0]) {
// for (int i = 0; i < 6; ++i) {
// jacobians[0][i] = jacobians_tmp[0][i];
// }
// }
// if (jacobians[1]) {
// for (int i = 0; i < 2; ++i) {
// jacobians[1][i] = jacobians_tmp[1][i];
// }
// }
// if (jacobians[2]) {
// for (int i = 0; i < 4; ++i) {
// jacobians[2][i] = jacobians_tmp[2][i];
// }
// }
for (int i = 0; i < kNumParameterBlocks; ++i) {
output.emplace_back(" if (jacobians[" + std::to_string(i) + "]) {");
output.emplace_back(
" for (int i = 0; i < " +
std::to_string(ParameterDims::GetDim(i) * kNumResiduals) + "; ++i) {");
output.emplace_back(" jacobians[" + std::to_string(i) +
"][i] = jacobians_ptrs[" + std::to_string(i) + "][i];");
output.emplace_back(" }");
output.emplace_back(" }");
}
output.emplace_back(" return true;");
output.emplace_back(" }");
output.emplace_back(" EvaluateResidual(parameters, residuals);");
output.emplace_back(" return true;");
output.emplace_back("}");