pymomentum-cpu 0.1.77.post30__cp313-cp313-manylinux_2_39_x86_64.whl

include/momentum/solver/subset_gauss_newton_solver.h

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+/*
+ * Copyright (c) Meta Platforms, Inc. and affiliates.
+ *
+ * This source code is licensed under the MIT license found in the
+ * LICENSE file in the root directory of this source tree.
+ */
+
+#pragma once
+
+#include <momentum/solver/fwd.h>
+#include <momentum/solver/solver.h>
+
+namespace momentum {
+
+/// Extended options for the Subset Gauss-Newton optimization algorithm
+///
+/// Provides configuration specific to the subset-based Gauss-Newton solver
+/// that optimizes only a selected subset of parameters
+struct SubsetGaussNewtonSolverOptions : SolverOptions {
+  /// Damping parameter added to Hessian diagonal for numerical stability; see
+  /// https://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
+  ///
+  /// Higher values improve stability but may slow convergence
+  float regularization = 0.05f;
+
+  /// Enables backtracking line search to ensure error reduction at each step
+  bool doLineSearch = false;
+
+  /// Default constructor
+  SubsetGaussNewtonSolverOptions() = default;
+
+  /// Construct from base solver options while preserving Subset Gauss-Newton defaults
+  /* implicit */ SubsetGaussNewtonSolverOptions(const SolverOptions& baseOptions)
+      : SolverOptions(baseOptions) {}
+};
+
+/// Gauss-Newton solver that optimizes only a selected subset of parameters
+///
+/// This specialized solver efficiently handles cases where only some parameters
+/// need to be optimized while others remain fixed. It remaps the active parameters
+/// to a smaller optimization problem, reducing computational cost.
+template <typename T>
+class SubsetGaussNewtonSolverT : public SolverT<T> {
+ public:
+  /// Creates a solver with the specified options and function to optimize
+  SubsetGaussNewtonSolverT(const SolverOptions& options, SolverFunctionT<T>* solver);
+
+  /// Returns "SubsetGaussNewton" as the solver name
+  [[nodiscard]] std::string_view getName() const override;
+
+  /// Updates solver configuration, handling both base and Subset Gauss-Newton specific options
+  void setOptions(const SolverOptions& options) final;
+
+  /// Specifies which parameters should be optimized
+  ///
+  /// Updates the internal mapping between full parameter space and optimization subset
+  void setEnabledParameters(const ParameterSet& parameters) final;
+
+ protected:
+  /// Performs one iteration of the Subset Gauss-Newton algorithm
+  ///
+  /// Computes the Jacobian, forms a reduced optimization problem for the enabled parameters,
+  /// solves it, and updates the full parameter vector
+  void doIteration() final;
+
+  /// Initializes solver state before optimization begins
+  void initializeSolver() final;
+
+ private:
+  /// Whether the solver has been initialized
+  bool initialized_{};
+
+  /// Jacobian matrix for the full parameter space
+  Eigen::MatrixX<T> jacobian_;
+
+  /// Residual vector
+  Eigen::VectorX<T> residual_;
+
+  /// Hessian approximation (JᵀJ) for the subset of enabled parameters
+  Eigen::MatrixX<T> subsetHessian_;
+
+  /// Gradient vector (JᵀR) for the subset of enabled parameters
+  Eigen::VectorX<T> subsetGradient_;
+
+  /// Cholesky factorization solver for the subset problem
+  Eigen::LLT<Eigen::MatrixX<T>> llt_;
+
+  /// Regularization parameter for numerical stability
+  float regularization_;
+
+  /// Whether to perform line search during parameter updates
+  bool doLineSearch_;
+
+  /// Step direction in the full parameter space
+  Eigen::VectorX<T> delta_;
+
+  /// Step direction in the reduced parameter space
+  Eigen::VectorX<T> subsetDelta_;
+
+  /// Mapping from subset parameter indices to full parameter indices
+  std::vector<int> enabledParameters_;
+
+  /// Updates the mapping between full and subset parameter spaces
+  ///
+  /// Called when the set of enabled parameters changes
+  void updateEnabledParameters();
+};
+
+} // namespace momentum

include/rerun/archetypes/annotation_context.hpp

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+// DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/cpp/mod.rs
+// Based on "crates/store/re_types/definitions/rerun/archetypes/annotation_context.fbs".
+
+#pragma once
+
+#include "../collection.hpp"
+#include "../component_batch.hpp"
+#include "../component_column.hpp"
+#include "../components/annotation_context.hpp"
+#include "../indicator_component.hpp"
+#include "../result.hpp"
+
+#include <cstdint>
+#include <optional>
+#include <utility>
+#include <vector>
+
+namespace rerun::archetypes {
+    /// **Archetype**: The annotation context provides additional information on how to display entities.
+    ///
+    /// Entities can use `components::ClassId`s and `components::KeypointId`s to provide annotations, and
+    /// the labels and colors will be looked up in the appropriate
+    /// annotation context. We use the *first* annotation context we find in the
+    /// path-hierarchy when searching up through the ancestors of a given entity
+    /// path.
+    ///
+    /// See also `datatypes::ClassDescription`.
+    ///
+    /// ## Example
+    ///
+    /// ### Segmentation
+    /// ![image](https://static.rerun.io/annotation_context_segmentation/6c9e88fc9d44a08031cadd444c2e58a985cc1208/full.png)
+    ///
+    /// ```cpp
+    /// #include <rerun.hpp>
+    ///
+    /// #include <algorithm> // fill_n
+    /// #include <vector>
+    ///
+    /// int main() {
+    ///     const auto rec = rerun::RecordingStream("rerun_example_annotation_context_segmentation");
+    ///     rec.spawn().exit_on_failure();
+    ///
+    ///     // create an annotation context to describe the classes
+    ///     rec.log_static(
+    ///         "segmentation",
+    ///         rerun::AnnotationContext({
+    ///             rerun::AnnotationInfo(1, "red", rerun::Rgba32(255, 0, 0)),
+    ///             rerun::AnnotationInfo(2, "green", rerun::Rgba32(0, 255, 0)),
+    ///         })
+    ///     );
+    ///
+    ///     // create a segmentation image
+    ///     const int HEIGHT = 200;
+    ///     const int WIDTH = 300;
+    ///     std::vector<uint8_t> data(WIDTH * HEIGHT, 0);
+    ///     for (auto y = 50; y <100; ++y) {
+    ///         std::fill_n(data.begin() + y * WIDTH + 50, 70, static_cast<uint8_t>(1));
+    ///     }
+    ///     for (auto y = 100; y <180; ++y) {
+    ///         std::fill_n(data.begin() + y * WIDTH + 130, 150, static_cast<uint8_t>(2));
+    ///     }
+    ///
+    ///     rec.log("segmentation/image", rerun::SegmentationImage(data.data(), {WIDTH, HEIGHT}));
+    /// }
+    /// ```
+    ///
+    /// ⚠ **This type is _unstable_ and may change significantly in a way that the data won't be backwards compatible.**
+    ///
+    struct AnnotationContext {
+        /// List of class descriptions, mapping class indices to class names, colors etc.
+        std::optional<ComponentBatch> context;
+
+      public:
+        static constexpr const char IndicatorComponentName[] =
+            "rerun.components.AnnotationContextIndicator";
+
+        /// Indicator component, used to identify the archetype when converting to a list of components.
+        using IndicatorComponent = rerun::components::IndicatorComponent<IndicatorComponentName>;
+        /// The name of the archetype as used in `ComponentDescriptor`s.
+        static constexpr const char ArchetypeName[] = "rerun.archetypes.AnnotationContext";
+
+        /// `ComponentDescriptor` for the `context` field.
+        static constexpr auto Descriptor_context = ComponentDescriptor(
+            ArchetypeName, "context",
+            Loggable<rerun::components::AnnotationContext>::Descriptor.component_name
+        );
+
+      public:
+        AnnotationContext() = default;
+        AnnotationContext(AnnotationContext&& other) = default;
+        AnnotationContext(const AnnotationContext& other) = default;
+        AnnotationContext& operator=(const AnnotationContext& other) = default;
+        AnnotationContext& operator=(AnnotationContext&& other) = default;
+
+        explicit AnnotationContext(rerun::components::AnnotationContext _context)
+            : context(ComponentBatch::from_loggable(std::move(_context), Descriptor_context)
+                          .value_or_throw()) {}
+
+        /// Update only some specific fields of a `AnnotationContext`.
+        static AnnotationContext update_fields() {
+            return AnnotationContext();
+        }
+
+        /// Clear all the fields of a `AnnotationContext`.
+        static AnnotationContext clear_fields();
+
+        /// List of class descriptions, mapping class indices to class names, colors etc.
+        AnnotationContext with_context(const rerun::components::AnnotationContext& _context) && {
+            context = ComponentBatch::from_loggable(_context, Descriptor_context).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// This method makes it possible to pack multiple `context` in a single component batch.
+        ///
+        /// This only makes sense when used in conjunction with `columns`. `with_context` should
+        /// be used when logging a single row's worth of data.
+        AnnotationContext with_many_context(
+            const Collection<rerun::components::AnnotationContext>& _context
+        ) && {
+            context = ComponentBatch::from_loggable(_context, Descriptor_context).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Partitions the component data into multiple sub-batches.
+        ///
+        /// Specifically, this transforms the existing `ComponentBatch` data into `ComponentColumn`s
+        /// instead, via `ComponentBatch::partitioned`.
+        ///
+        /// This makes it possible to use `RecordingStream::send_columns` to send columnar data directly into Rerun.
+        ///
+        /// The specified `lengths` must sum to the total length of the component batch.
+        Collection<ComponentColumn> columns(const Collection<uint32_t>& lengths_);
+
+        /// Partitions the component data into unit-length sub-batches.
+        ///
+        /// This is semantically similar to calling `columns` with `std::vector<uint32_t>(n, 1)`,
+        /// where `n` is automatically guessed.
+        Collection<ComponentColumn> columns();
+    };
+
+} // namespace rerun::archetypes
+
+namespace rerun {
+    /// \private
+    template <typename T>
+    struct AsComponents;
+
+    /// \private
+    template <>
+    struct AsComponents<archetypes::AnnotationContext> {
+        /// Serialize all set component batches.
+        static Result<Collection<ComponentBatch>> as_batches(
+            const archetypes::AnnotationContext& archetype
+        );
+    };
+} // namespace rerun

include/rerun/archetypes/arrows2d.hpp

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+// DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/cpp/mod.rs
+// Based on "crates/store/re_types/definitions/rerun/archetypes/arrows2d.fbs".
+
+#pragma once
+
+#include "../collection.hpp"
+#include "../component_batch.hpp"
+#include "../component_column.hpp"
+#include "../components/class_id.hpp"
+#include "../components/color.hpp"
+#include "../components/draw_order.hpp"
+#include "../components/position2d.hpp"
+#include "../components/radius.hpp"
+#include "../components/show_labels.hpp"
+#include "../components/text.hpp"
+#include "../components/vector2d.hpp"
+#include "../indicator_component.hpp"
+#include "../result.hpp"
+
+#include <cstdint>
+#include <optional>
+#include <utility>
+#include <vector>
+
+namespace rerun::archetypes {
+    /// **Archetype**: 2D arrows with optional colors, radii, labels, etc.
+    ///
+    /// ## Example
+    ///
+    /// ### Simple batch of 2D arrows
+    /// ![image](https://static.rerun.io/arrow2d_simple/59f044ccc03f7bc66ee802288f75706618b29a6e/full.png)
+    ///
+    /// ```cpp
+    /// #include <rerun.hpp>
+    ///
+    /// int main() {
+    ///     const auto rec = rerun::RecordingStream("rerun_example_arrow2d");
+    ///     rec.spawn().exit_on_failure();
+    ///
+    ///     rec.log(
+    ///         "arrows",
+    ///         rerun::Arrows2D::from_vectors({{1.0f, 0.0f}, {0.0f, -1.0f}, {-0.7f, 0.7f}})
+    ///             .with_radii(0.025f)
+    ///             .with_origins({{0.25f, 0.0f}, {0.25f, 0.0f}, {-0.1f, -0.1f}})
+    ///             .with_colors({{255, 0, 0}, {0, 255, 0}, {127, 0, 255}})
+    ///             .with_labels({"right", "up", "left-down"})
+    ///     );
+    /// }
+    /// ```
+    struct Arrows2D {
+        /// All the vectors for each arrow in the batch.
+        std::optional<ComponentBatch> vectors;
+
+        /// All the origin (base) positions for each arrow in the batch.
+        ///
+        /// If no origins are set, (0, 0) is used as the origin for each arrow.
+        std::optional<ComponentBatch> origins;
+
+        /// Optional radii for the arrows.
+        ///
+        /// The shaft is rendered as a line with `radius = 0.5 * radius`.
+        /// The tip is rendered with `height = 2.0 * radius` and `radius = 1.0 * radius`.
+        std::optional<ComponentBatch> radii;
+
+        /// Optional colors for the points.
+        std::optional<ComponentBatch> colors;
+
+        /// Optional text labels for the arrows.
+        ///
+        /// If there's a single label present, it will be placed at the center of the entity.
+        /// Otherwise, each instance will have its own label.
+        std::optional<ComponentBatch> labels;
+
+        /// Optional choice of whether the text labels should be shown by default.
+        std::optional<ComponentBatch> show_labels;
+
+        /// An optional floating point value that specifies the 2D drawing order.
+        ///
+        /// Objects with higher values are drawn on top of those with lower values.
+        std::optional<ComponentBatch> draw_order;
+
+        /// Optional class Ids for the points.
+        ///
+        /// The `components::ClassId` provides colors and labels if not specified explicitly.
+        std::optional<ComponentBatch> class_ids;
+
+      public:
+        static constexpr const char IndicatorComponentName[] = "rerun.components.Arrows2DIndicator";
+
+        /// Indicator component, used to identify the archetype when converting to a list of components.
+        using IndicatorComponent = rerun::components::IndicatorComponent<IndicatorComponentName>;
+        /// The name of the archetype as used in `ComponentDescriptor`s.
+        static constexpr const char ArchetypeName[] = "rerun.archetypes.Arrows2D";
+
+        /// `ComponentDescriptor` for the `vectors` field.
+        static constexpr auto Descriptor_vectors = ComponentDescriptor(
+            ArchetypeName, "vectors",
+            Loggable<rerun::components::Vector2D>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `origins` field.
+        static constexpr auto Descriptor_origins = ComponentDescriptor(
+            ArchetypeName, "origins",
+            Loggable<rerun::components::Position2D>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `radii` field.
+        static constexpr auto Descriptor_radii = ComponentDescriptor(
+            ArchetypeName, "radii", Loggable<rerun::components::Radius>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `colors` field.
+        static constexpr auto Descriptor_colors = ComponentDescriptor(
+            ArchetypeName, "colors", Loggable<rerun::components::Color>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `labels` field.
+        static constexpr auto Descriptor_labels = ComponentDescriptor(
+            ArchetypeName, "labels", Loggable<rerun::components::Text>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `show_labels` field.
+        static constexpr auto Descriptor_show_labels = ComponentDescriptor(
+            ArchetypeName, "show_labels",
+            Loggable<rerun::components::ShowLabels>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `draw_order` field.
+        static constexpr auto Descriptor_draw_order = ComponentDescriptor(
+            ArchetypeName, "draw_order",
+            Loggable<rerun::components::DrawOrder>::Descriptor.component_name
+        );
+        /// `ComponentDescriptor` for the `class_ids` field.
+        static constexpr auto Descriptor_class_ids = ComponentDescriptor(
+            ArchetypeName, "class_ids",
+            Loggable<rerun::components::ClassId>::Descriptor.component_name
+        );
+
+      public: // START of extensions from arrows2d_ext.cpp:
+        /// Creates new 2D arrows pointing in the given directions, with a base at the origin (0, 0).
+        static Arrows2D from_vectors(Collection<components::Vector2D> vectors_) {
+            return Arrows2D().with_vectors(vectors_);
+        }
+
+        // END of extensions from arrows2d_ext.cpp, start of generated code:
+
+      public:
+        Arrows2D() = default;
+        Arrows2D(Arrows2D&& other) = default;
+        Arrows2D(const Arrows2D& other) = default;
+        Arrows2D& operator=(const Arrows2D& other) = default;
+        Arrows2D& operator=(Arrows2D&& other) = default;
+
+        /// Update only some specific fields of a `Arrows2D`.
+        static Arrows2D update_fields() {
+            return Arrows2D();
+        }
+
+        /// Clear all the fields of a `Arrows2D`.
+        static Arrows2D clear_fields();
+
+        /// All the vectors for each arrow in the batch.
+        Arrows2D with_vectors(const Collection<rerun::components::Vector2D>& _vectors) && {
+            vectors = ComponentBatch::from_loggable(_vectors, Descriptor_vectors).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// All the origin (base) positions for each arrow in the batch.
+        ///
+        /// If no origins are set, (0, 0) is used as the origin for each arrow.
+        Arrows2D with_origins(const Collection<rerun::components::Position2D>& _origins) && {
+            origins = ComponentBatch::from_loggable(_origins, Descriptor_origins).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Optional radii for the arrows.
+        ///
+        /// The shaft is rendered as a line with `radius = 0.5 * radius`.
+        /// The tip is rendered with `height = 2.0 * radius` and `radius = 1.0 * radius`.
+        Arrows2D with_radii(const Collection<rerun::components::Radius>& _radii) && {
+            radii = ComponentBatch::from_loggable(_radii, Descriptor_radii).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Optional colors for the points.
+        Arrows2D with_colors(const Collection<rerun::components::Color>& _colors) && {
+            colors = ComponentBatch::from_loggable(_colors, Descriptor_colors).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Optional text labels for the arrows.
+        ///
+        /// If there's a single label present, it will be placed at the center of the entity.
+        /// Otherwise, each instance will have its own label.
+        Arrows2D with_labels(const Collection<rerun::components::Text>& _labels) && {
+            labels = ComponentBatch::from_loggable(_labels, Descriptor_labels).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Optional choice of whether the text labels should be shown by default.
+        Arrows2D with_show_labels(const rerun::components::ShowLabels& _show_labels) && {
+            show_labels = ComponentBatch::from_loggable(_show_labels, Descriptor_show_labels)
+                              .value_or_throw();
+            return std::move(*this);
+        }
+
+        /// This method makes it possible to pack multiple `show_labels` in a single component batch.
+        ///
+        /// This only makes sense when used in conjunction with `columns`. `with_show_labels` should
+        /// be used when logging a single row's worth of data.
+        Arrows2D with_many_show_labels(const Collection<rerun::components::ShowLabels>& _show_labels
+        ) && {
+            show_labels = ComponentBatch::from_loggable(_show_labels, Descriptor_show_labels)
+                              .value_or_throw();
+            return std::move(*this);
+        }
+
+        /// An optional floating point value that specifies the 2D drawing order.
+        ///
+        /// Objects with higher values are drawn on top of those with lower values.
+        Arrows2D with_draw_order(const rerun::components::DrawOrder& _draw_order) && {
+            draw_order =
+                ComponentBatch::from_loggable(_draw_order, Descriptor_draw_order).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// This method makes it possible to pack multiple `draw_order` in a single component batch.
+        ///
+        /// This only makes sense when used in conjunction with `columns`. `with_draw_order` should
+        /// be used when logging a single row's worth of data.
+        Arrows2D with_many_draw_order(const Collection<rerun::components::DrawOrder>& _draw_order
+        ) && {
+            draw_order =
+                ComponentBatch::from_loggable(_draw_order, Descriptor_draw_order).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Optional class Ids for the points.
+        ///
+        /// The `components::ClassId` provides colors and labels if not specified explicitly.
+        Arrows2D with_class_ids(const Collection<rerun::components::ClassId>& _class_ids) && {
+            class_ids =
+                ComponentBatch::from_loggable(_class_ids, Descriptor_class_ids).value_or_throw();
+            return std::move(*this);
+        }
+
+        /// Partitions the component data into multiple sub-batches.
+        ///
+        /// Specifically, this transforms the existing `ComponentBatch` data into `ComponentColumn`s
+        /// instead, via `ComponentBatch::partitioned`.
+        ///
+        /// This makes it possible to use `RecordingStream::send_columns` to send columnar data directly into Rerun.
+        ///
+        /// The specified `lengths` must sum to the total length of the component batch.
+        Collection<ComponentColumn> columns(const Collection<uint32_t>& lengths_);
+
+        /// Partitions the component data into unit-length sub-batches.
+        ///
+        /// This is semantically similar to calling `columns` with `std::vector<uint32_t>(n, 1)`,
+        /// where `n` is automatically guessed.
+        Collection<ComponentColumn> columns();
+    };
+
+} // namespace rerun::archetypes
+
+namespace rerun {
+    /// \private
+    template <typename T>
+    struct AsComponents;
+
+    /// \private
+    template <>
+    struct AsComponents<archetypes::Arrows2D> {
+        /// Serialize all set component batches.
+        static Result<Collection<ComponentBatch>> as_batches(const archetypes::Arrows2D& archetype);
+    };
+} // namespace rerun