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Move EvaluationCallback from Solver::Options to Problem::Options.

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Adding it to Solver::Options was a mistake, as it prevents it from
being used in covariance estimation. Also updated associated docs.

https://github.com/ceres-solver/ceres-solver/issues/380
https://github.com/ceres-solver/ceres-solver/issues/401
https://github.com/ceres-solver/ceres-solver/issues/484

Change-Id: I63809a47a58e84c04a58bf8e59ace92f45fc2873
This commit is contained in:
Sameer Agarwal
2019-06-04 21:57:01 -07:00
parent 059bcb7f86
commit bf709ecac2
15 changed files with 393 additions and 246 deletions
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include/ceres/problem.h
+33 -2
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@@ -50,6 +50,7 @@
namespace ceres {
class CostFunction;
class EvaluationCallback;
class LossFunction;
class LocalParameterization;
class Solver;
@@ -165,6 +166,23 @@ class CERES_EXPORT Problem {
//
// Ceres does NOT take ownership of the pointer.
Context* context = nullptr;
// Using this callback interface, Ceres can notify you when it is
// about to evaluate the residuals or jacobians. With the
// callback, you can share computation between residual blocks by
// doing the shared computation in
// EvaluationCallback::PrepareForEvaluation() before Ceres calls
// CostFunction::Evaluate(). It also enables caching results
// between a pure residual evaluation and a residual & jacobian
// evaluation.
//
// Problem DOES NOT take ownership of the callback.
//
// NOTE: Evaluation callbacks are incompatible with inner
// iterations. So calling Solve with
// Solver::Options::use_inner_iterations = true on a Problem with
// a non-null evaluation callback is an error.
EvaluationCallback* evaluation_callback = nullptr;
};
// The default constructor is equivalent to the
@@ -448,6 +466,10 @@ class CERES_EXPORT Problem {
// Note 3: This function cannot be called while the problem is being
// solved, for example it cannot be called from an IterationCallback
// at the end of an iteration during a solve.
//
// Note 4: If an EvaluationCallback is associated with the problem,
// then its PrepareForEvaluation method will be called everytime
// this method is called with new_point = true.
bool Evaluate(const EvaluateOptions& options,
double* cost,
std::vector<double>* residuals,
@@ -480,8 +502,17 @@ class CERES_EXPORT Problem {
// apply_loss_function as the name implies allows the user to switch
// the application of the loss function on and off.
//
// TODO(sameeragarwal): Clarify interaction with IterationCallback
// once that cleanup is done.
// WARNING: If an EvaluationCallback is associated with the problem
// then it is the user's responsibility to call it before calling
// this method.
//
// This is because, if the user calls this method multiple times, we
// cannot tell if the underlying parameter blocks have changed
// between calls or not. So if EvaluateResidualBlock was responsible
// for calling the EvaluationCallback, it will have to do it
// everytime it is called. Which makes the common case where the
// parameter blocks do not change, inefficient. So we leave it to
// the user to call the EvaluationCallback as needed.
bool EvaluateResidualBlock(ResidualBlockId residual_block_id,
bool apply_loss_function,
double* cost,