mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
125a0e9be5
Manifolds are now part of the public API and co-exist with LocalParameterizations. 1. Add Manifolds to the Problem API. a. AddParameterBlock(double*, int, Manifold*) b. SetParameterization(double*, Manifold*) b. GetManifold(const double*) c. HasManifold(const double*) 2. Internally Ceres now only uses Manifolds. When the user uses a LocalParameterization, it is wrapped in a ManifoldAdapter. 3. To preserve the API semantics while keeping the internals clean we need a new map in ProblemImpl which stores the association between parameter blocks and local parameterizations. This is temporary, it will go away once this transition is complete. 4. There are NO algorithmic changes, as in we are not using any of the expanded interface of the Manifold objects yet. That will come later. 5. All tests that use LocalParameterization have been duplicated to use Manifolds, and when this transition is complete the LocalParameterization based tests will be deleted. 6. Public documentation for the API has been updated. Deprecation notices to the documentation as well as C++ annotations will come later. 7. Similar changes have been made to GradientProblem. Change-Id: I8e03c8ced6e141876ef3eca5740c113afa788f0c
88 lines
3.6 KiB
C++
88 lines
3.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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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#include "ceres/gradient_problem.h"
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#include "ceres/local_parameterization.h"
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#include "ceres/manifold_adapter.h"
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#include "glog/logging.h"
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namespace ceres {
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GradientProblem::GradientProblem(FirstOrderFunction* function)
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: function_(CHECK_NOTNULL(function)),
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manifold_(new EuclideanManifold(function_->NumParameters())),
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scratch_(new double[function_->NumParameters()]) {}
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GradientProblem::GradientProblem(FirstOrderFunction* function,
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LocalParameterization* parameterization)
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: function_(CHECK_NOTNULL(function)),
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parameterization_(CHECK_NOTNULL(parameterization)),
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manifold_(new internal::ManifoldAdapter(parameterization_.get())),
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scratch_(new double[function_->NumParameters()]) {
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CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
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}
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GradientProblem::GradientProblem(FirstOrderFunction* function,
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Manifold* manifold)
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: function_(CHECK_NOTNULL(function)),
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manifold_(CHECK_NOTNULL(manifold)),
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scratch_(new double[function_->NumParameters()]) {
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CHECK_EQ(function_->NumParameters(), manifold_->AmbientSize());
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}
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int GradientProblem::NumParameters() const {
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return function_->NumParameters();
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}
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int GradientProblem::NumTangentParameters() const {
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return manifold_->TangentSize();
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}
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bool GradientProblem::Evaluate(const double* parameters,
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double* cost,
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double* gradient) const {
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if (gradient == nullptr) {
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return function_->Evaluate(parameters, cost, nullptr);
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}
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return (function_->Evaluate(parameters, cost, scratch_.get()) &&
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manifold_->RightMultiplyByPlusJacobian(
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parameters, 1, scratch_.get(), gradient));
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}
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bool GradientProblem::Plus(const double* x,
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const double* delta,
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double* x_plus_delta) const {
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return manifold_->Plus(x, delta, x_plus_delta);
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}
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} // namespace ceres
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