// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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.
//
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// 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/collections_port.h"
#include "ceres/problem.h"
#include "ceres/types.h"
namespace ceres {
class CostFunction;
class LossFunction;
class LocalParameterization;
struct CRSMatrix;
namespace internal {
class Program;
class ResidualBlock;
class ProblemImpl {
public:
typedef std::map<double*, ParameterBlock*> ParameterMap;
typedef HashSet<ResidualBlock*> ResidualBlockSet;
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 std::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);
bool IsParameterBlockConstant(double* values) const;
void SetParameterization(double* values,
LocalParameterization* local_parameterization);
const LocalParameterization* GetParameterization(double* values) const;
void SetParameterLowerBound(double* values, int index, double lower_bound);
void SetParameterUpperBound(double* values, int index, double upper_bound);
bool Evaluate(const Problem::EvaluateOptions& options,
double* cost,
std::vector<double>* residuals,
std::vector<double>* gradient,
CRSMatrix* jacobian);
int NumParameterBlocks() const;
int NumParameters() const;
int NumResidualBlocks() const;
int NumResiduals() const;
int ParameterBlockSize(const double* parameter_block) const;
int ParameterBlockLocalSize(const double* parameter_block) const;
bool HasParameterBlock(const double* parameter_block) const;
void GetParameterBlocks(std::vector<double*>* parameter_blocks) const;
void GetResidualBlocks(std::vector<ResidualBlockId>* residual_blocks) const;
void GetParameterBlocksForResidualBlock(
const ResidualBlockId residual_block,
std::vector<double*>* parameter_blocks) const;
const CostFunction* GetCostFunctionForResidualBlock(
const ResidualBlockId residual_block) const;
const LossFunction* GetLossFunctionForResidualBlock(
const ResidualBlockId residual_block) const;
void GetResidualBlocksForParameterBlock(
const double* values,
std::vector<ResidualBlockId>* residual_blocks) const;
const Program& program() const { return *program_; }
Program* mutable_program() { return program_.get(); }
const ParameterMap& parameter_map() const { return parameter_block_map_; }
const ResidualBlockSet& residual_block_set() const {
CHECK(options_.enable_fast_removal)
<< "Fast removal not enabled, residual_block_set is not maintained.";
return residual_block_set_;
}
private:
ParameterBlock* InternalAddParameterBlock(double* values, int size);
void InternalRemoveResidualBlock(ResidualBlock* residual_block);
bool InternalEvaluate(Program* program,
double* cost,
std::vector<double>* residuals,
std::vector<double>* gradient,
CRSMatrix* jacobian);
// 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(std::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.
std::map<double*, ParameterBlock*> parameter_block_map_;
// Iff enable_fast_removal is enabled, contains the current residual blocks.
ResidualBlockSet residual_block_set_;
// 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.
std::vector<CostFunction*> cost_functions_to_delete_;
std::vector<LossFunction*> loss_functions_to_delete_;
std::vector<LocalParameterization*> local_parameterizations_to_delete_;
CERES_DISALLOW_COPY_AND_ASSIGN(ProblemImpl);
};
} // namespace internal
} // namespace ceres
#endif // CERES_PUBLIC_PROBLEM_IMPL_H_