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ceres-solver/include/ceres/cost_function_to_functor.h
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Sameer Agarwal 85561eee95 Use int32 for parameter block sizes. 
CostFunction now uses int32 instead of int16
to store the size of its parameter blocks.

This is an API breaking change.

Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e
2014-01-07 22:22:14 -08:00

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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal)
//
// CostFunctionToFunctor is an adapter class that allows users to use
// CostFunction objects in templated functors which are to be used for
// automatic differentiation. This allows the user to seamlessly mix
// analytic, numeric and automatic differentiation.
//
// For example, let us assume that
//
// class IntrinsicProjection : public SizedCostFunction<2, 5, 3> {
// public:
// IntrinsicProjection(const double* observations);
// virtual bool Evaluate(double const* const* parameters,
// double* residuals,
// double** jacobians) const;
// };
//
// is a cost function that implements the projection of a point in its
// local coordinate system onto its image plane and subtracts it from
// the observed point projection. It can compute its residual and
// either via analytic or numerical differentiation can compute its
// jacobians.
//
// Now we would like to compose the action of this CostFunction with
// the action of camera extrinsics, i.e., rotation and
// translation. Say we have a templated function
//
// template<typename T>
// void RotateAndTranslatePoint(const T* rotation,
// const T* translation,
// const T* point,
// T* result);
//
// Then we can now do the following,
//
// struct CameraProjection {
// CameraProjection(double* observation) {
// intrinsic_projection_.reset(
// new CostFunctionToFunctor<2, 5, 3>(
// new IntrinsicProjection(observation_)));
// }
// template <typename T>
// bool operator()(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residual) const {
// T transformed_point[3];
// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
//
// // Note that we call intrinsic_projection_, just like it was
// // any other templated functor.
//
// return (*intrinsic_projection_)(intrinsics, transformed_point, residual);
// }
//
// private:
// scoped_ptr<CostFunctionToFunctor<2,5,3> > intrinsic_projection_;
// };
#ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
#define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
#include <numeric>
#include <vector>
#include "ceres/cost_function.h"
#include "ceres/internal/fixed_array.h"
#include "ceres/internal/port.h"
#include "ceres/internal/scoped_ptr.h"
namespace ceres {
template <int kNumResiduals,
int N0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
class CostFunctionToFunctor {
public:
explicit CostFunctionToFunctor(CostFunction* cost_function)
: cost_function_(cost_function) {
CHECK_NOTNULL(cost_function);
CHECK_GE(kNumResiduals, 0);
CHECK_EQ(cost_function->num_residuals(), kNumResiduals);
// This block breaks the 80 column rule to keep it somewhat readable.
CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) ||
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0)))
<< "Zero block cannot precede a non-zero block. Block sizes are "
<< "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
<< N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
<< N8 << ", " << N9;
const vector<int32>& parameter_block_sizes =
cost_function->parameter_block_sizes();
const int num_parameter_blocks =
(N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
(N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
CHECK_EQ(parameter_block_sizes.size(), num_parameter_blocks);
CHECK_EQ(N0, parameter_block_sizes[0]);
if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT
if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT
if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT
if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT
if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT
if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT
if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT
if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT
if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT
CHECK_EQ(accumulate(parameter_block_sizes.begin(),
parameter_block_sizes.end(), 0),
N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
}
bool operator()(const double* x0, double* residuals) const {
CHECK_NE(N0, 0);
CHECK_EQ(N1, 0);
CHECK_EQ(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
return cost_function_->Evaluate(&x0, residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_EQ(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(2);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(3);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(4);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(5);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(6);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
parameter_blocks[5] = x5;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(7);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
parameter_blocks[5] = x5;
parameter_blocks[6] = x6;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(8);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
parameter_blocks[5] = x5;
parameter_blocks[6] = x6;
parameter_blocks[7] = x7;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
const double* x8,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_NE(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const double*> parameter_blocks(9);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
parameter_blocks[5] = x5;
parameter_blocks[6] = x6;
parameter_blocks[7] = x7;
parameter_blocks[8] = x8;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
const double* x8,
const double* x9,
double* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_NE(N8, 0);
CHECK_NE(N9, 0);
internal::FixedArray<const double*> parameter_blocks(10);
parameter_blocks[0] = x0;
parameter_blocks[1] = x1;
parameter_blocks[2] = x2;
parameter_blocks[3] = x3;
parameter_blocks[4] = x4;
parameter_blocks[5] = x5;
parameter_blocks[6] = x6;
parameter_blocks[7] = x7;
parameter_blocks[8] = x8;
parameter_blocks[9] = x9;
return cost_function_->Evaluate(parameter_blocks.get(), residuals, NULL);
}
template <typename JetT>
bool operator()(const JetT* x0, JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_EQ(N1, 0);
CHECK_EQ(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
return EvaluateWithJets(&x0, residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_EQ(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(2);
jets[0] = x0;
jets[1] = x1;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_EQ(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(3);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_EQ(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(4);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_EQ(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(5);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
const JetT* x5,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_EQ(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(6);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
jets[5] = x5;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
const JetT* x5,
const JetT* x6,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_EQ(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(7);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
jets[5] = x5;
jets[6] = x6;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
const JetT* x5,
const JetT* x6,
const JetT* x7,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_EQ(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(8);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
jets[5] = x5;
jets[6] = x6;
jets[7] = x7;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
const JetT* x5,
const JetT* x6,
const JetT* x7,
const JetT* x8,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_NE(N8, 0);
CHECK_EQ(N9, 0);
internal::FixedArray<const JetT*> jets(9);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
jets[5] = x5;
jets[6] = x6;
jets[7] = x7;
jets[8] = x8;
return EvaluateWithJets(jets.get(), residuals);
}
template <typename JetT>
bool operator()(const JetT* x0,
const JetT* x1,
const JetT* x2,
const JetT* x3,
const JetT* x4,
const JetT* x5,
const JetT* x6,
const JetT* x7,
const JetT* x8,
const JetT* x9,
JetT* residuals) const {
CHECK_NE(N0, 0);
CHECK_NE(N1, 0);
CHECK_NE(N2, 0);
CHECK_NE(N3, 0);
CHECK_NE(N4, 0);
CHECK_NE(N5, 0);
CHECK_NE(N6, 0);
CHECK_NE(N7, 0);
CHECK_NE(N8, 0);
CHECK_NE(N9, 0);
internal::FixedArray<const JetT*> jets(10);
jets[0] = x0;
jets[1] = x1;
jets[2] = x2;
jets[3] = x3;
jets[4] = x4;
jets[5] = x5;
jets[6] = x6;
jets[7] = x7;
jets[8] = x8;
jets[9] = x9;
return EvaluateWithJets(jets.get(), residuals);
}
private:
template <typename JetT>
bool EvaluateWithJets(const JetT** inputs, JetT* output) const {
const int kNumParameters = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
const vector<int32>& parameter_block_sizes =
cost_function_->parameter_block_sizes();
const int num_parameter_blocks = parameter_block_sizes.size();
const int num_residuals = cost_function_->num_residuals();
internal::FixedArray<double> parameters(kNumParameters);
internal::FixedArray<double*> parameter_blocks(num_parameter_blocks);
internal::FixedArray<double> jacobians(num_residuals * kNumParameters);
internal::FixedArray<double*> jacobian_blocks(num_parameter_blocks);
internal::FixedArray<double> residuals(num_residuals);
// Build a set of arrays to get the residuals and jacobians from
// the CostFunction wrapped by this functor.
double* parameter_ptr = parameters.get();
double* jacobian_ptr = jacobians.get();
for (int i = 0; i < num_parameter_blocks; ++i) {
parameter_blocks[i] = parameter_ptr;
jacobian_blocks[i] = jacobian_ptr;
for (int j = 0; j < parameter_block_sizes[i]; ++j) {
*parameter_ptr++ = inputs[i][j].a;
}
jacobian_ptr += num_residuals * parameter_block_sizes[i];
}
if (!cost_function_->Evaluate(parameter_blocks.get(),
residuals.get(),
jacobian_blocks.get())) {
return false;
}
// Now that we have the incoming Jets, which are carrying the
// partial derivatives of each of the inputs w.r.t to some other
// underlying parameters. The derivative of the outputs of the
// cost function w.r.t to the same underlying parameters can now
// be computed by applying the chain rule.
//
// d output[i] d output[i] d input[j]
// -------------- = sum_j ----------- * ------------
// d parameter[k] d input[j] d parameter[k]
//
// d input[j]
// -------------- = inputs[j], so
// d parameter[k]
//
// outputJet[i] = sum_k jacobian[i][k] * inputJet[k]
//
// The following loop, iterates over the residuals, computing one
// output jet at a time.
for (int i = 0; i < num_residuals; ++i) {
output[i].a = residuals[i];
output[i].v.setZero();
for (int j = 0; j < num_parameter_blocks; ++j) {
const int32 block_size = parameter_block_sizes[j];
for (int k = 0; k < parameter_block_sizes[j]; ++k) {
output[i].v +=
jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
}
}
}
return true;
}
private:
internal::scoped_ptr<CostFunction> cost_function_;
};
} // namespace ceres
#endif // CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_
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