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
176 lines
7.9 KiB
C++
176 lines
7.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
|
|
// http://code.google.com/p/ceres-solver/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: keir@google.com (Keir Mierle)
|
|
//
|
|
// This is the implementation of the public Problem API. The pointer to
|
|
// implementation (PIMPL) idiom makes it possible for Ceres internal code to
|
|
// refer to the private data members without needing to exposing it to the
|
|
// world. An alternative to PIMPL is to have a factory which returns instances
|
|
// of a virtual base class; while that approach would work, it requires clients
|
|
// to always put a Problem object into a scoped pointer; this needlessly muddies
|
|
// client code for little benefit. Therefore, the PIMPL comprise was chosen.
|
|
|
|
#ifndef CERES_PUBLIC_PROBLEM_IMPL_H_
|
|
#define CERES_PUBLIC_PROBLEM_IMPL_H_
|
|
|
|
#include <map>
|
|
#include <vector>
|
|
|
|
#include "ceres/internal/macros.h"
|
|
#include "ceres/internal/port.h"
|
|
#include "ceres/internal/scoped_ptr.h"
|
|
#include "ceres/problem.h"
|
|
#include "ceres/types.h"
|
|
|
|
namespace ceres {
|
|
|
|
class CostFunction;
|
|
class LossFunction;
|
|
class LocalParameterization;
|
|
|
|
namespace internal {
|
|
|
|
class Program;
|
|
class ResidualBlock;
|
|
|
|
class ProblemImpl {
|
|
public:
|
|
typedef map<double*, ParameterBlock*> ParameterMap;
|
|
|
|
ProblemImpl();
|
|
explicit ProblemImpl(const Problem::Options& options);
|
|
|
|
~ProblemImpl();
|
|
|
|
// See the public problem.h file for description of these methods.
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
const vector<double*>& parameter_blocks);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4, double* x5);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4, double* x5,
|
|
double* x6);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4, double* x5,
|
|
double* x6, double* x7);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4, double* x5,
|
|
double* x6, double* x7, double* x8);
|
|
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
|
|
LossFunction* loss_function,
|
|
double* x0, double* x1, double* x2,
|
|
double* x3, double* x4, double* x5,
|
|
double* x6, double* x7, double* x8,
|
|
double* x9);
|
|
void AddParameterBlock(double* values, int size);
|
|
void AddParameterBlock(double* values,
|
|
int size,
|
|
LocalParameterization* local_parameterization);
|
|
|
|
void RemoveResidualBlock(ResidualBlock* residual_block);
|
|
void RemoveParameterBlock(double* values);
|
|
|
|
void SetParameterBlockConstant(double* values);
|
|
void SetParameterBlockVariable(double* values);
|
|
void SetParameterization(double* values,
|
|
LocalParameterization* local_parameterization);
|
|
int NumParameterBlocks() const;
|
|
int NumParameters() const;
|
|
int NumResidualBlocks() const;
|
|
int NumResiduals() const;
|
|
|
|
const Program& program() const { return *program_; }
|
|
Program* mutable_program() { return program_.get(); }
|
|
|
|
const ParameterMap& parameter_map() const { return parameter_block_map_; }
|
|
|
|
private:
|
|
ParameterBlock* InternalAddParameterBlock(double* values, int size);
|
|
|
|
// Delete the arguments in question. These differ from the Remove* functions
|
|
// in that they do not clean up references to the block to delete; they
|
|
// merely delete them.
|
|
template<typename Block>
|
|
void DeleteBlockInVector(vector<Block*>* mutable_blocks,
|
|
Block* block_to_remove);
|
|
void DeleteBlock(ResidualBlock* residual_block);
|
|
void DeleteBlock(ParameterBlock* parameter_block);
|
|
|
|
const Problem::Options options_;
|
|
|
|
// The mapping from user pointers to parameter blocks.
|
|
map<double*, ParameterBlock*> parameter_block_map_;
|
|
|
|
// The actual parameter and residual blocks.
|
|
internal::scoped_ptr<internal::Program> program_;
|
|
|
|
// When removing residual and parameter blocks, cost/loss functions and
|
|
// parameterizations have ambiguous ownership. Instead of scanning the entire
|
|
// problem to see if the cost/loss/parameterization is shared with other
|
|
// residual or parameter blocks, buffer them until destruction.
|
|
//
|
|
// TODO(keir): See if it makes sense to use sets instead.
|
|
vector<CostFunction*> cost_functions_to_delete_;
|
|
vector<LossFunction*> loss_functions_to_delete_;
|
|
vector<LocalParameterization*> local_parameterizations_to_delete_;
|
|
|
|
CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
|
|
};
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_PUBLIC_PROBLEM_IMPL_H_
|