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Simplify GenerateCodeForFunctor

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- Don't trace residual -> Use input cost functor instead
- Remove unnecessary copy from tmp jacobian array
- Fix indent of generated Evaluate() function

Change-Id: I23e09987d8ec30f7202a93eb253648505dcaaa4e
This commit is contained in:
Darius Rueckert
2020-03-12 09:15:26 +01:00
parent 9049688c60
commit 75dd30faed
1 changed files with 22 additions and 65 deletions
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include/ceres/codegen/generate_code_for_functor.h
+22 -65
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@@ -123,12 +123,6 @@ std::vector<std::string> GenerateCodeForFunctor(
internal::MakeOutput(J.a, "residuals[" + std::to_string(i) + "]");
}
// Make a copy of the current graph so we can generated a function for the
// residuals without jacobians.
auto residual_graph = *internal::GetCurrentExpressionGraph();
// Same principle as above for the residuals.
//
// Example code generated by these expressions:
// jacobians[0][0] = v_351;
// jacobians[0][1] = v_352;
@@ -161,20 +155,6 @@ std::vector<std::string> GenerateCodeForFunctor(
output.emplace_back("// http://ceres-solver.org/");
output.emplace_back("");
{
// Generate C++ code for the EvaluateResidual function and append it to the
// output.
internal::CodeGenerator::Options generator_options;
generator_options.function_name =
"void EvaluateResidual(double const* const* parameters, double* "
"residuals) const";
internal::CodeGenerator gen(residual_graph, generator_options);
std::vector<std::string> code = gen.Generate();
output.insert(output.end(), code.begin(), code.end());
}
output.emplace_back("");
{
// Generate C++ code for the EvaluateResidualAndJacobian function and append
// it to the output.
@@ -198,63 +178,40 @@ std::vector<std::string> GenerateCodeForFunctor(
output.emplace_back(" double* residuals,");
output.emplace_back(" double** jacobians) const {");
output.emplace_back(" if (!jacobians) {");
output.emplace_back(" EvaluateResidual(parameters, residuals);");
output.emplace_back(" return true;");
output.emplace_back(" }");
output.emplace_back(" if (!jacobians) {");
output.emplace_back(" // Use the input cost functor");
output.emplace_back(" return (*this)(");
for (int i = 0; i < kNumParameterBlocks; ++i) {
output.emplace_back(" parameters[" + std::to_string(i) + "],");
}
output.emplace_back(" residuals");
output.emplace_back(" );");
output.emplace_back(" }");
// Create a tmp array of all jacobians and use it for evaluation.
// The generated code for a <2,3,1,2> cost functor is:
// Create a tmp array of all jacobians and use it for evaluation if the input
// jacobian is null. 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,
// jacobians[0] ? jacobians[0] : jacobians_data + 0,
// jacobians[1] ? jacobians[1] : jacobians_data + 6,
// jacobians[2] ? jacobians[2] : jacobians_data + 8,
// };
output.emplace_back(" double jacobians_data[" +
output.emplace_back(" double jacobians_data[" +
std::to_string(kNumParameters * kNumResiduals) + "];");
output.emplace_back(" double* jacobians_ptrs[] = {");
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 + " +
output.emplace_back(" jacobians[" + std::to_string(i) +
"] ? jacobians[" + std::to_string(i) +
"] : jacobians_data + " +
std::to_string(kNumResiduals * total_param_id) + ",");
}
output.emplace_back(" };");
// Evaluate into the tmp array.
output.emplace_back(" };");
output.emplace_back(
" EvaluateResidualAndJacobian(parameters, residuals, "
" 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(" return true;");
output.emplace_back("}");
return output;