AutoDiff Code Generation - CMake Integration

This patch integrates the code generation module into the build system. All depenendcies are tracked through CMake targets. Modifying the cost functor will automatically trigger code re-generation. All this functionality is defined in the CMake function ceres_generate_cost_function_implementation_for_functor in CeresCodeGeneration.cmake. A hello world usage example is included in examples/CMakeLists.txt. Change-Id: I23b8b6698d1ea51cf3d788a47afcf39f8c5ce327
2026-08-30 17:10:38 +08:00 · 2019-12-10 16:39:08 +01:00
parent d82de91b88
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2019 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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: darius.rueckert@fau.de (Darius Rueckert)
+//
+#ifndef CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_
+#define CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_
+
+#include "ceres/codegen/macros.h"
+#include "ceres/sized_cost_function.h"
+
+namespace ceres {
+
+// This is the interface for automatically generating cost functor derivative
+// code. The template parameters are identical to those of SizedCostFunction<>.
+// The behaviour of this class changes between code generation and problem
+// solving.
+//
+// During code generation (when CERES_CODEGEN is defined), this class doesn't do
+// anything. The templated operator() from your derived cost functor is used.
+//
+// After code generation (when CERES_CODEGEN is not defined), this class is a
+// SizedCostFunction. The required Evaluate() function was generated and must be
+// included into your cost functor.
+//
+// Usage Example:
+//
+//   #include "ceres/codegen/cost_function.h"
+//
+//   struct HelloWorldCostFunction : public ceres::CodegenCostFunction<1, 1> {
+//     // A default constructor is required, because the code generator has to
+//     // create an object of the cost function.
+//     HelloWorldCostFunction() = default;
+//     template <typename T>
+//     bool operator()(const T* x, T* residual) const {
+//       residual[0] = x[0] * x[0];
+//       return true;
+//     }
+//   #include "examples/helloworldcostfunction.h"
+//   };
+
+template <int kNumResiduals_, int... Ns>
+class CodegenCostFunction
+#ifdef CERES_CODEGEN
+// During code generation we can't derive from SizedCostFunction.
+// The variadic evaluation with Jets would try to call the empty Evaluate()
+// instead of the templated functor.
+#else
+    : public SizedCostFunction<kNumResiduals_, Ns...>
+#endif
+{
+ public:
+  static constexpr int kNumResiduals = kNumResiduals_;
+  static_assert(kNumResiduals > 0,
+                "Cost functions must have at least one residual block.");
+  static_assert(kNumResiduals != DYNAMIC,
+                "Code generation for dynamic residuals is not yet supported.");
+  static_assert(internal::StaticParameterDims<Ns...>::kIsValid,
+                "Invalid parameter block dimension detected. Each parameter "
+                "block dimension must be bigger than zero.");
+  using ParameterDims = internal::StaticParameterDims<Ns...>;
+};
+
+}  // namespace ceres
+#endif  // CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_