mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
f956615ef1
This introduces a simple C API for a subset of Ceres. This opens the door to using languages like Python to call Ceres, since it is much easier to bind to C than it is to bind to C++. It will mean giving up the native Ceres autodiff. The implementation in this patch does not attempt to do everything but is only just enough to get started. Subsequent patches will increase the surface area of Ceres that is covered by the C API. Change-Id: Ic51804bac6865e1a2e476553248aabc91dff3409
132 lines
4.9 KiB
C++
132 lines
4.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2013 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: mierle@gmail.com (Keir Mierle)
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//
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// An incomplete C API for Ceres.
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//
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// TODO(keir): Figure out why logging does not seem to work.
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#include <vector>
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#include <iostream> // XXX remove me
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#include "ceres/c_api.h"
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#include "ceres/cost_function.h"
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#include "ceres/problem.h"
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#include "ceres/solver.h"
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#include "ceres/types.h" // for std
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#include "glog/logging.h"
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using ceres::Problem;
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void ceres_init() {
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// This is not ideal, but it's not clear what to do if there is no gflags and
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// no access to command line arguments.
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google::InitGoogleLogging("<unknown>");
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}
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ceres_problem_t* ceres_create_problem() {
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return reinterpret_cast<ceres_problem_t*>(new Problem);
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}
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void ceres_free_problem(ceres_problem_t* problem) {
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delete reinterpret_cast<Problem*>(problem);
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}
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class CallbackCostFunction : public ceres::CostFunction {
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public:
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CallbackCostFunction(ceres_cost_function_t cost_function,
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void* user_data,
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int num_residuals,
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int num_parameter_blocks,
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int* parameter_block_sizes)
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: cost_function_(cost_function),
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user_data_(user_data) {
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set_num_residuals(num_residuals);
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for (int i = 0; i < num_parameter_blocks; ++i) {
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mutable_parameter_block_sizes()->push_back(parameter_block_sizes[i]);
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}
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}
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virtual ~CallbackCostFunction() {}
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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return (*cost_function_)(user_data_,
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const_cast<double**>(parameters),
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residuals,
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jacobians);
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}
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private:
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ceres_cost_function_t cost_function_;
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void* user_data_;
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};
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ceres_residual_block_id_t* ceres_problem_add_residual_block(
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ceres_problem_t* problem,
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ceres_cost_function_t cost_function,
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ceres_loss_function_t loss_function,
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void* user_data,
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int num_residuals,
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int num_parameter_blocks,
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int* parameter_block_sizes,
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double** parameters) {
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Problem* ceres_problem = reinterpret_cast<Problem*>(problem);
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ceres::CostFunction* callback_cost_function =
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new CallbackCostFunction(cost_function,
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user_data,
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num_residuals,
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num_parameter_blocks,
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parameter_block_sizes);
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std::vector<double*> parameter_blocks(parameters,
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parameters + num_parameter_blocks);
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return reinterpret_cast<ceres_residual_block_id_t*>(
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ceres_problem->AddResidualBlock(callback_cost_function,
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NULL, /* Ignore loss for now */
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parameter_blocks));
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}
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void ceres_solve(ceres_problem_t* c_problem) {
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Problem* problem = reinterpret_cast<Problem*>(c_problem);
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// TODO(keir): Obviously, this way of setting options won't scale or last.
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// Instead, figure out a way to specify some of the options without
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// duplicating everything.
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ceres::Solver::Options options;
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options.max_num_iterations = 25;
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options.linear_solver_type = ceres::DENSE_QR;
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options.minimizer_progress_to_stdout = true;
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ceres::Solver::Summary summary;
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ceres::Solve(options, problem, &summary);
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std::cout << summary.FullReport() << "\n";
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}
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