mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Move LineManifold and SphereManifold into their own headers.
Previously they were defined in manifold.h but their implementations were in the internal directory and to prevent circular dependencies the implementation headers were pushed to the bottom of manifold.h This started out as one header and has become progressively worse as more manifolds are templated. This change moves the two manifolds into their own headers which also contain their implementations. Change-Id: I671da0279a47cd2ff1f52c69a1d159426f55bd80
This commit is contained in:
Sameer Agarwal
@@ -55,6 +55,7 @@
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#include "ceres/gradient_problem_solver.h"
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#include "ceres/iteration_callback.h"
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#include "ceres/jet.h"
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#include "ceres/line_manifold.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/loss_function.h"
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#include "ceres/manifold.h"
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@@ -65,6 +66,7 @@
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#include "ceres/problem.h"
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#include "ceres/sized_cost_function.h"
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#include "ceres/solver.h"
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#include "ceres/sphere_manifold.h"
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#include "ceres/types.h"
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#include "ceres/version.h"
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@@ -29,13 +29,94 @@
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// Author: jodebo_beck@gmx.de (Johannes Beck)
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//
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#ifndef CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
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#define CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
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#ifndef CERES_PUBLIC_LINE_MANIFOLD_H_
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#define CERES_PUBLIC_LINE_MANIFOLD_H_
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#include <Eigen/Core>
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#include <algorithm>
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#include <array>
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#include <memory>
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#include <vector>
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/internal/householder_vector.h"
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#include "ceres/internal/sphere_manifold_functions.h"
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#include "ceres/manifold.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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namespace ceres {
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// This provides a manifold for lines, where the line is
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// over-parameterized by an origin point and a direction vector. So the
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// parameter vector size needs to be two times the ambient space dimension,
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// where the first half is interpreted as the origin point and the second half
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// as the direction.
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//
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// The plus operator for the line direction is the same as for the
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// SphereManifold. The update of the origin point is
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// perpendicular to the line direction before the update.
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//
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// This manifold is a special case of the affine Grassmannian
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// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
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// for the case Graff_1(R^n).
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//
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// The class works with dynamic and static ambient space dimensions. If the
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// ambient space dimensions is known at compile time use
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//
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// LineManifold<3> manifold;
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//
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// If the ambient space dimensions is not known at compile time the template
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// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
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// to be provided as a constructor argument:
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//
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// LineManifold<ceres::DYNAMIC> manifold(ambient_dim);
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//
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template <int AmbientSpaceDimension>
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class LineManifold final : public Manifold {
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public:
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static_assert(AmbientSpaceDimension == DYNAMIC || AmbientSpaceDimension >= 2,
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"The ambient space must be at least 2.");
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static_assert(ceres::DYNAMIC == Eigen::Dynamic,
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"ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
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LineManifold();
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explicit LineManifold(int size);
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int AmbientSize() const override { return 2 * size_; }
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int TangentSize() const override { return 2 * (size_ - 1); }
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const override;
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bool PlusJacobian(const double* x, double* jacobian) const override;
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bool Minus(const double* y,
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const double* x,
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double* y_minus_x) const override;
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bool MinusJacobian(const double* x, double* jacobian) const override;
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private:
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static constexpr bool IsDynamic = (AmbientSpaceDimension == ceres::DYNAMIC);
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static constexpr int TangentSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : AmbientSpaceDimension - 1;
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static constexpr int DAmbientSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : 2 * AmbientSpaceDimension;
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static constexpr int DTangentSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : 2 * TangentSpaceDimension;
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using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
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using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
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using MatrixPlusJacobian = Eigen::Matrix<double,
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DAmbientSpaceDimension,
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DTangentSpaceDimension,
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Eigen::RowMajor>;
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using MatrixMinusJacobian = Eigen::Matrix<double,
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DTangentSpaceDimension,
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DAmbientSpaceDimension,
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Eigen::RowMajor>;
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const int size_{AmbientSpaceDimension};
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};
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template <int AmbientSpaceDimension>
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LineManifold<AmbientSpaceDimension>::LineManifold()
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@@ -216,4 +297,8 @@ bool LineManifold<AmbientSpaceDimension>::MinusJacobian(
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} // namespace ceres
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#endif // CERES_PUBLIC_INTERNAL_LINE_MANIFOLD_H_
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// clang-format off
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#include "ceres/internal/reenable_warnings.h"
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// clang-format on
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#endif // CERES_PUBLIC_LINE_MANIFOLD_H_
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+1
-154
@@ -467,163 +467,10 @@ class CERES_EXPORT EigenQuaternionManifold final : public Manifold {
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bool MinusJacobian(const double* x, double* jacobian) const override;
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};
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// This provides a manifold on a sphere meaning that the norm of the vector
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// stays the same. Such cases often arises in Structure for Motion
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// problems. One example where they are used is in representing points whose
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// triangulation is ill-conditioned. Here it is advantageous to use an
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// over-parameterization since homogeneous vectors can represent points at
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// infinity.
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//
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// The plus operator is defined as
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// Plus(x, delta) =
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// [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
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//
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// The minus operator is defined as
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// Minus(x, y) = 2 atan2(nhy, y[-1]) / nhy * hy[0 : size_ - 1]
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// with nhy = norm(hy[0 : size_ - 1])
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//
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// with * defined as an operator which applies the update orthogonal to x to
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// remain on the sphere. The ambient space dimension is required to be greater
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// than 1.
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//
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// The class works with dynamic and static ambient space dimensions. If the
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// ambient space dimensions is known at compile time use
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//
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// SphereManifold<3> manifold;
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//
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// If the ambient space dimensions is not known at compile time the template
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// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
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// to be provided as a constructor argument:
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//
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// SphereManifold<ceres::DYNAMIC> manifold(ambient_dim);
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//
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// See section B.2 (p.25) in "Integrating Generic Sensor Fusion Algorithms
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// with Sound State Representations through Encapsulation of Manifolds" by C.
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// Hertzberg, R. Wagner, U. Frese and L. Schroder for more details
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// (https://arxiv.org/pdf/1107.1119.pdf)
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template <int AmbientSpaceDimension>
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class SphereManifold final : public Manifold {
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public:
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static_assert(
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AmbientSpaceDimension == ceres::DYNAMIC || AmbientSpaceDimension > 1,
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"The size of the homogeneous vector needs to be greater than 1.");
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static_assert(ceres::DYNAMIC == Eigen::Dynamic,
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"ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
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SphereManifold();
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explicit SphereManifold(int size);
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int AmbientSize() const override {
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return AmbientSpaceDimension == ceres::DYNAMIC ? size_
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: AmbientSpaceDimension;
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}
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int TangentSize() const override { return AmbientSize() - 1; }
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const override;
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bool PlusJacobian(const double* x, double* jacobian) const override;
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bool Minus(const double* y,
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const double* x,
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double* y_minus_x) const override;
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bool MinusJacobian(const double* x, double* jacobian) const override;
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private:
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static constexpr int TangentSpaceDimension =
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AmbientSpaceDimension > 0 ? AmbientSpaceDimension - 1 : Eigen::Dynamic;
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using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
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using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
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using MatrixPlusJacobian = Eigen::Matrix<double,
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AmbientSpaceDimension,
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TangentSpaceDimension,
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Eigen::RowMajor>;
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using MatrixMinusJacobian = Eigen::Matrix<double,
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TangentSpaceDimension,
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AmbientSpaceDimension,
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Eigen::RowMajor>;
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const int size_{};
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};
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// This provides a manifold for lines, where the line is
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// over-parameterized by an origin point and a direction vector. So the
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// parameter vector size needs to be two times the ambient space dimension,
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// where the first half is interpreted as the origin point and the second half
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// as the direction.
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//
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// The plus operator for the line direction is the same as for the
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// SphereManifold. The update of the origin point is
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// perpendicular to the line direction before the update.
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//
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// This manifold is a special case of the affine Grassmannian
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// manifold (see https://en.wikipedia.org/wiki/Affine_Grassmannian_(manifold))
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// for the case Graff_1(R^n).
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//
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// The class works with dynamic and static ambient space dimensions. If the
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// ambient space dimensions is known at compile time use
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//
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// LineManifold<3> manifold;
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//
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// If the ambient space dimensions is not known at compile time the template
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// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
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// to be provided as a constructor argument:
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//
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// LineManifold<ceres::DYNAMIC> manifold(ambient_dim);
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//
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template <int AmbientSpaceDimension>
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class LineManifold final : public Manifold {
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public:
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static_assert(AmbientSpaceDimension == DYNAMIC || AmbientSpaceDimension >= 2,
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"The ambient space must be at least 2.");
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static_assert(ceres::DYNAMIC == Eigen::Dynamic,
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"ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
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LineManifold();
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explicit LineManifold(int size);
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int AmbientSize() const override { return 2 * size_; }
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int TangentSize() const override { return 2 * (size_ - 1); }
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const override;
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bool PlusJacobian(const double* x, double* jacobian) const override;
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bool Minus(const double* y,
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const double* x,
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double* y_minus_x) const override;
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bool MinusJacobian(const double* x, double* jacobian) const override;
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private:
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static constexpr bool IsDynamic = (AmbientSpaceDimension == ceres::DYNAMIC);
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static constexpr int TangentSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : AmbientSpaceDimension - 1;
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static constexpr int DAmbientSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : 2 * AmbientSpaceDimension;
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static constexpr int DTangentSpaceDimension =
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IsDynamic ? ceres::DYNAMIC : 2 * TangentSpaceDimension;
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using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
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using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
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using MatrixPlusJacobian = Eigen::Matrix<double,
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DAmbientSpaceDimension,
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DTangentSpaceDimension,
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Eigen::RowMajor>;
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using MatrixMinusJacobian = Eigen::Matrix<double,
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DTangentSpaceDimension,
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DAmbientSpaceDimension,
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Eigen::RowMajor>;
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const int size_{AmbientSpaceDimension};
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};
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} // namespace ceres
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#include "internal/line_manifold.h"
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#include "internal/sphere_manifold.h"
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// clang-format off
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#include "ceres/internal/reenable_warnings.h"
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// clang-format on
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#endif // CERES_PUBLIC_MANIFOLD_H_
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@@ -29,14 +29,105 @@
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// Author: vitus@google.com (Mike Vitus)
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// jodebo_beck@gmx.de (Johannes Beck)
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#ifndef CERES_PUBLIC_INTERNAL_SPHERE_MANIFOLD_H_
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#define CERES_PUBLIC_INTERNAL_SPHERE_MANIFOLD_H_
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#ifndef CERES_PUBLIC_SPHERE_MANIFOLD_H_
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#define CERES_PUBLIC_SPHERE_MANIFOLD_H_
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#include <Eigen/Core>
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#include <algorithm>
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#include <array>
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#include <memory>
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#include <vector>
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/internal/householder_vector.h"
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#include "ceres/internal/sphere_manifold_functions.h"
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#include "ceres/manifold.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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namespace ceres {
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// This provides a manifold on a sphere meaning that the norm of the vector
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// stays the same. Such cases often arises in Structure for Motion
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// problems. One example where they are used is in representing points whose
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// triangulation is ill-conditioned. Here it is advantageous to use an
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// over-parameterization since homogeneous vectors can represent points at
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// infinity.
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//
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// The plus operator is defined as
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// Plus(x, delta) =
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// [sin(0.5 * |delta|) * delta / |delta|, cos(0.5 * |delta|)] * x
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//
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// The minus operator is defined as
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// Minus(x, y) = 2 atan2(nhy, y[-1]) / nhy * hy[0 : size_ - 1]
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// with nhy = norm(hy[0 : size_ - 1])
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//
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// with * defined as an operator which applies the update orthogonal to x to
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// remain on the sphere. The ambient space dimension is required to be greater
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// than 1.
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//
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// The class works with dynamic and static ambient space dimensions. If the
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// ambient space dimensions is known at compile time use
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//
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// SphereManifold<3> manifold;
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//
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// If the ambient space dimensions is not known at compile time the template
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// parameter needs to be set to ceres::DYNAMIC and the actual dimension needs
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// to be provided as a constructor argument:
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//
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// SphereManifold<ceres::DYNAMIC> manifold(ambient_dim);
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//
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// See section B.2 (p.25) in "Integrating Generic Sensor Fusion Algorithms
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// with Sound State Representations through Encapsulation of Manifolds" by C.
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// Hertzberg, R. Wagner, U. Frese and L. Schroder for more details
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// (https://arxiv.org/pdf/1107.1119.pdf)
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template <int AmbientSpaceDimension>
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class SphereManifold final : public Manifold {
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public:
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static_assert(
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AmbientSpaceDimension == ceres::DYNAMIC || AmbientSpaceDimension > 1,
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"The size of the homogeneous vector needs to be greater than 1.");
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static_assert(ceres::DYNAMIC == Eigen::Dynamic,
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"ceres::DYNAMIC needs to be the same as Eigen::Dynamic.");
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SphereManifold();
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explicit SphereManifold(int size);
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int AmbientSize() const override {
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return AmbientSpaceDimension == ceres::DYNAMIC ? size_
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: AmbientSpaceDimension;
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}
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int TangentSize() const override { return AmbientSize() - 1; }
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bool Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const override;
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bool PlusJacobian(const double* x, double* jacobian) const override;
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bool Minus(const double* y,
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const double* x,
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double* y_minus_x) const override;
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bool MinusJacobian(const double* x, double* jacobian) const override;
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private:
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static constexpr int TangentSpaceDimension =
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AmbientSpaceDimension > 0 ? AmbientSpaceDimension - 1 : Eigen::Dynamic;
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using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
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using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
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using MatrixPlusJacobian = Eigen::Matrix<double,
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AmbientSpaceDimension,
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TangentSpaceDimension,
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Eigen::RowMajor>;
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using MatrixMinusJacobian = Eigen::Matrix<double,
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TangentSpaceDimension,
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AmbientSpaceDimension,
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Eigen::RowMajor>;
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const int size_{};
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};
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template <int AmbientSpaceDimension>
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SphereManifold<AmbientSpaceDimension>::SphereManifold()
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: size_{AmbientSpaceDimension} {
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@@ -130,6 +221,11 @@ bool SphereManifold<AmbientSpaceDimension>::MinusJacobian(
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internal::ComputeSphereManifoldMinusJacobian(x, &jacobian);
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return true;
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}
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} // namespace ceres
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#endif
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// clang-format off
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#include "ceres/internal/reenable_warnings.h"
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// clang-format on
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#endif // CERES_PUBLIC_SPHERE_MANIFOLD_H_
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