mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
04938efe4b
This adds support for removing parameter and residual blocks. There are two modes of operation: in the first, removals of paremeter blocks are expensive, since each remove requires scanning all residual blocks to find ones that depend on the removed parameter. In the other, extra memory is sacrificed to maintain a list of the residuals a parameter block depends on, removing the need to scan. In both cases, removing residual blocks is fast. As a caveat, any removals destroys the ordering of the parameters, so the residuals or jacobian returned from Solver::Solve() is meaningless. There is some debate on the best way to handle this; the details remain for a future change. This also adds some overhead, even in the case that fast removals are not requested: - 1 int32 to each residual, to track its position in the program. - 1 pointer to each parameter, to store the dependent residuals. Change-Id: I71dcac8656679329a15ee7fc12c0df07030c12af
196 lines
7.2 KiB
C++
196 lines
7.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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// keir@google.com (Keir Mierle)
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#include "ceres/problem.h"
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#include <vector>
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#include "ceres/problem_impl.h"
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namespace ceres {
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Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
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Problem::Problem(const Problem::Options& options)
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: problem_impl_(new internal::ProblemImpl(options)) {}
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Problem::~Problem() {}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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const vector<double*>& parameter_blocks) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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parameter_blocks);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4, x5);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
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double* x6) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4, x5, x6);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
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double* x6, double* x7) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4, x5, x6, x7);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
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double* x6, double* x7, double* x8) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4, x5, x6, x7, x8);
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}
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ResidualBlockId Problem::AddResidualBlock(
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CostFunction* cost_function,
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LossFunction* loss_function,
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double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
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double* x6, double* x7, double* x8, double* x9) {
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return problem_impl_->AddResidualBlock(cost_function,
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loss_function,
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x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
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}
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void Problem::AddParameterBlock(double* values, int size) {
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problem_impl_->AddParameterBlock(values, size);
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}
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void Problem::AddParameterBlock(double* values,
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int size,
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LocalParameterization* local_parameterization) {
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problem_impl_->AddParameterBlock(values, size, local_parameterization);
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}
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void Problem::RemoveResidualBlock(ResidualBlockId residual_block) {
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problem_impl_->RemoveResidualBlock(residual_block);
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}
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void Problem::RemoveParameterBlock(double* values) {
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problem_impl_->RemoveParameterBlock(values);
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}
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void Problem::SetParameterBlockConstant(double* values) {
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problem_impl_->SetParameterBlockConstant(values);
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}
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void Problem::SetParameterBlockVariable(double* values) {
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problem_impl_->SetParameterBlockVariable(values);
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}
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void Problem::SetParameterization(
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double* values,
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LocalParameterization* local_parameterization) {
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problem_impl_->SetParameterization(values, local_parameterization);
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}
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int Problem::NumParameterBlocks() const {
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return problem_impl_->NumParameterBlocks();
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}
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int Problem::NumParameters() const {
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return problem_impl_->NumParameters();
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}
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int Problem::NumResidualBlocks() const {
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return problem_impl_->NumResidualBlocks();
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}
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int Problem::NumResiduals() const {
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return problem_impl_->NumResiduals();
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}
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} // namespace ceres
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