Program Listing for File autodiff_local_parameterization.hpp

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#ifndef FUSE_CORE__AUTODIFF_LOCAL_PARAMETERIZATION_HPP_
#define FUSE_CORE__AUTODIFF_LOCAL_PARAMETERIZATION_HPP_

#include <ceres/internal/autodiff.h>

#include <memory>

#include <fuse_core/ceres_options.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/local_parameterization.hpp>

namespace fuse_core
{

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
class AutoDiffLocalParameterization : public LocalParameterization
{
public:
  FUSE_SMART_PTR_DEFINITIONS(
    AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize,
    kLocalSize>)


  AutoDiffLocalParameterization();

  AutoDiffLocalParameterization(PlusFunctor * plus_functor, MinusFunctor * minus_functor);

  bool Plus(
    const double * x,
    const double * delta,
    double * x_plus_delta) const override;

  bool ComputeJacobian(
    const double * x,
    double * jacobian) const override;

  bool Minus(
    const double * x1,
    const double * x2,
    double * delta) const override;

  bool ComputeMinusJacobian(
    const double * x,
    double * jacobian) const override;

  int GlobalSize() const override {return kGlobalSize;}

  int LocalSize() const override {return kLocalSize;}

private:
  std::unique_ptr<PlusFunctor> plus_functor_;
  std::unique_ptr<MinusFunctor> minus_functor_;
};

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize,
  kLocalSize>::AutoDiffLocalParameterization()
: plus_functor_(new PlusFunctor()),
  minus_functor_(new MinusFunctor())
{
}

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize,
  kLocalSize>::AutoDiffLocalParameterization(
  PlusFunctor * plus_functor,
  MinusFunctor * minus_functor)
: plus_functor_(plus_functor),
  minus_functor_(minus_functor)
{
}

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize>::Plus(
  const double * x,
  const double * delta,
  double * x_plus_delta) const
{
  return (*plus_functor_)(x, delta, x_plus_delta);
}

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize,
  kLocalSize>::ComputeJacobian(
  const double * x,
  double * jacobian) const
{
  double zero_delta[kLocalSize] = {};  // zero-initialize
  double x_plus_delta[kGlobalSize];

  const double * parameter_ptrs[2] = {x, zero_delta};
  double * jacobian_ptrs[2] = {NULL, jacobian};
#if !CERES_VERSION_AT_LEAST(2, 0, 0)
  return ceres::internal::AutoDiff<PlusFunctor, double, kGlobalSize, kLocalSize>
         ::Differentiate(*plus_functor_, parameter_ptrs, kGlobalSize, x_plus_delta, jacobian_ptrs);
#else
  return ceres::internal::AutoDifferentiate<kGlobalSize,
           ceres::internal::StaticParameterDims<kGlobalSize, kLocalSize>>(
    *plus_functor_, parameter_ptrs, kGlobalSize, x_plus_delta, jacobian_ptrs);
#endif
}

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize>::Minus(
  const double * x1,
  const double * x2,
  double * delta) const
{
  return (*minus_functor_)(x1, x2, delta);
}

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
bool AutoDiffLocalParameterization<PlusFunctor, MinusFunctor, kGlobalSize,
  kLocalSize>::ComputeMinusJacobian(
  const double * x,
  double * jacobian) const
{
  double delta[kLocalSize] = {};  // zero-initialize

  const double * parameter_ptrs[2] = {x, x};
  double * jacobian_ptrs[2] = {NULL, jacobian};
#if !CERES_VERSION_AT_LEAST(2, 0, 0)
  return ceres::internal::AutoDiff<MinusFunctor, double, kGlobalSize, kGlobalSize>
         ::Differentiate(*minus_functor_, parameter_ptrs, kLocalSize, delta, jacobian_ptrs);
#else
  using StaticParameters = ceres::internal::StaticParameterDims<kGlobalSize, kGlobalSize>;
  return ceres::internal::AutoDifferentiate<kLocalSize, StaticParameters>(
    *minus_functor_, parameter_ptrs, kLocalSize, delta, jacobian_ptrs);
#endif
}

}  // namespace fuse_core

#endif  // FUSE_CORE__AUTODIFF_LOCAL_PARAMETERIZATION_HPP_