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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/sized_cost_function.h
+11 -36
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@@ -41,49 +41,24 @@
#include "ceres/cost_function.h"
#include "ceres/types.h"
#include "glog/logging.h"
#include "internal/parameter_dims.h"
namespace ceres {
template<int kNumResiduals,
int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0,
int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
template <int kNumResiduals, int... Ns>
class SizedCostFunction : public CostFunction {
public:
static_assert(kNumResiduals > 0 || kNumResiduals == DYNAMIC,
"Cost functions must have at least one residual block.");
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...>;
SizedCostFunction() {
CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
<< "Cost functions must have at least one residual block.";
// This block breaks the 80 column rule to keep it somewhat readable.
CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
<< "Zero block cannot precede a non-zero block. Block sizes are "
<< "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
<< N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
<< N8 << ", " << N9;
set_num_residuals(kNumResiduals);
#define CERES_ADD_PARAMETER_BLOCK(N) \
if (N) mutable_parameter_block_sizes()->push_back(N);
CERES_ADD_PARAMETER_BLOCK(N0);
CERES_ADD_PARAMETER_BLOCK(N1);
CERES_ADD_PARAMETER_BLOCK(N2);
CERES_ADD_PARAMETER_BLOCK(N3);
CERES_ADD_PARAMETER_BLOCK(N4);
CERES_ADD_PARAMETER_BLOCK(N5);
CERES_ADD_PARAMETER_BLOCK(N6);
CERES_ADD_PARAMETER_BLOCK(N7);
CERES_ADD_PARAMETER_BLOCK(N8);
CERES_ADD_PARAMETER_BLOCK(N9);
#undef CERES_ADD_PARAMETER_BLOCK
*mutable_parameter_block_sizes() = std::vector<int32_t>{Ns...};
}
virtual ~SizedCostFunction() { }