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git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
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+// 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.
+//
+// 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 <array>
+#include <map>
+#include <memory>
+#include <unordered_set>
+#include <vector>
+
+#include "ceres/context_impl.h"
+#include "ceres/internal/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 std::unordered_set<ResidualBlock*> ResidualBlockSet;
+ typedef std::map<CostFunction*, int> CostFunctionRefCount;
+ typedef std::map<LossFunction*, int> LossFunctionRefCount;
+
+ ProblemImpl();
+ explicit ProblemImpl(const Problem::Options& options);
+ ProblemImpl(const ProblemImpl&) = delete;
+ void operator=(const ProblemImpl&) = delete;
+
+ ~ProblemImpl();
+
+ // See the public problem.h file for description of these methods.
+ ResidualBlockId AddResidualBlock(
+ CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* const* const parameter_blocks,
+ int num_parameter_blocks);
+
+ template <typename... Ts>
+ ResidualBlockId AddResidualBlock(CostFunction* cost_function,
+ LossFunction* loss_function,
+ double* x0,
+ Ts*... xs) {
+ const std::array<double*, sizeof...(Ts) + 1> parameter_blocks{{x0, xs...}};
+ return AddResidualBlock(cost_function,
+ loss_function,
+ parameter_blocks.data(),
+ static_cast<int>(parameter_blocks.size()));
+ }
+
+ 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);
+ double GetParameterLowerBound(double* values, int index) const;
+ double GetParameterUpperBound(double* values, int index) const;
+
+ 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_;
+ }
+
+ ContextImpl* context() { return context_impl_; }
+
+ private:
+ ParameterBlock* InternalAddParameterBlock(double* values, int size);
+ void InternalRemoveResidualBlock(ResidualBlock* residual_block);
+
+ // 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_;
+
+ bool context_impl_owned_;
+ ContextImpl* context_impl_;
+
+ // The mapping from user pointers to parameter blocks.
+ ParameterMap parameter_block_map_;
+
+ // Iff enable_fast_removal is enabled, contains the current residual blocks.
+ ResidualBlockSet residual_block_set_;
+
+ // The actual parameter and residual blocks.
+ std::unique_ptr<internal::Program> program_;
+
+ // When removing parameter blocks, parameterizations have ambiguous
+ // ownership. Instead of scanning the entire problem to see if the
+ // parameterization is shared with other parameter blocks, buffer
+ // them until destruction.
+ //
+ // TODO(keir): See if it makes sense to use sets instead.
+ std::vector<LocalParameterization*> local_parameterizations_to_delete_;
+
+ // For each cost function and loss function in the problem, a count
+ // of the number of residual blocks that refer to them. When the
+ // count goes to zero and the problem owns these objects, they are
+ // destroyed.
+ CostFunctionRefCount cost_function_ref_count_;
+ LossFunctionRefCount loss_function_ref_count_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_PUBLIC_PROBLEM_IMPL_H_