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Sized cost function using variadic templates

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This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.

Trailing parameter blocks of size zero are now considered as error.

Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
This commit is contained in:
Johannes Beck
2018-10-13 22:34:53 +02:00
parent f8e8951611
commit 8eef94de4e
12 changed files with 380 additions and 591 deletions
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include/ceres/autodiff_cost_function.h
+15 -33
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@@ -110,10 +110,6 @@
// Dimension of x ------------------------------------+ |
// Dimension of y ---------------------------------------+
//
// The framework can currently accommodate cost functions of up to 10
// independent variables, and there is no limit on the dimensionality
// of each of them.
//
// WARNING #1: Since the functor will get instantiated with different types for
// T, you must convert from other numeric types to T before mixing
// computations with other variables of type T. In the example above, this is
@@ -153,19 +149,8 @@ namespace ceres {
// of residuals for a single autodiff cost function at runtime.
template <typename CostFunctor,
int kNumResiduals, // Number of residuals, or ceres::DYNAMIC.
int N0, // Number of parameters in block 0.
int N1 = 0, // Number of parameters in block 1.
int N2 = 0, // Number of parameters in block 2.
int N3 = 0, // Number of parameters in block 3.
int N4 = 0, // Number of parameters in block 4.
int N5 = 0, // Number of parameters in block 5.
int N6 = 0, // Number of parameters in block 6.
int N7 = 0, // Number of parameters in block 7.
int N8 = 0, // Number of parameters in block 8.
int N9 = 0> // Number of parameters in block 9.
class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9> {
int... Ns> // Number of parameters in each parameter block.
class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals, Ns...> {
public:
// Takes ownership of functor. Uses the template-provided value for the
// number of residuals ("kNumResiduals").
@@ -186,10 +171,7 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
CHECK_EQ(kNumResiduals, DYNAMIC)
<< "Can't run the dynamic-size constructor if the "
<< "number of residuals is not ceres::DYNAMIC.";
SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>
::set_num_residuals(num_residuals);
SizedCostFunction<kNumResiduals, Ns...>::set_num_residuals(num_residuals);
}
virtual ~AutoDiffCostFunction() {}
@@ -202,20 +184,20 @@ class AutoDiffCostFunction : public SizedCostFunction<kNumResiduals,
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) const {
using ParameterDims =
typename SizedCostFunction<kNumResiduals, Ns...>::ParameterDims;
if (!jacobians) {
return internal::VariadicEvaluate<
CostFunctor, double, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>
::Call(*functor_, parameters, residuals);
return internal::VariadicEvaluate<ParameterDims>(*functor_,
parameters,
residuals);
}
return internal::AutoDiff<CostFunctor, double,
N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(
*functor_,
parameters,
SizedCostFunction<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>::num_residuals(),
residuals,
jacobians);
return internal::AutoDifferentiate<ParameterDims>(
*functor_,
parameters,
SizedCostFunction<kNumResiduals, Ns...>::num_residuals(),
residuals,
jacobians);
}
private: