mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
118 lines
4.9 KiB
C++
118 lines
4.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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// mierle@gmail.com (Keir Mierle)
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// jodebo_beck@gmx.de (Johannes Beck)
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#ifndef CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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#define CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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#include <algorithm>
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#include <array>
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#include <cstddef>
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#include <functional>
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#include <tuple>
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#include <type_traits>
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#include <utility>
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#include "ceres/cost_function.h"
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#include "ceres/internal/parameter_dims.h"
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namespace ceres::internal {
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// Variadic evaluate is a helper function to evaluate ceres cost function or
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// functors using an input, output and the parameter dimensions. There are
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// several ways different possibilities:
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// 1) If the passed functor is a 'ceres::CostFunction' its evaluate method is
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// called.
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// 2) If the functor is not a 'ceres::CostFunction' and the specified parameter
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// dims is dynamic, the functor must have the following signature
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// 'bool(T const* const* input, T* output)'.
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// 3) If the functor is not a 'ceres::CostFunction' and the specified parameter
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// dims is not dynamic, the input is expanded by using the number of parameter
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// blocks. The signature of the functor must have the following signature
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// 'bool()(const T* i_1, const T* i_2, ... const T* i_n, T* output)'.
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template <typename ParameterDims, typename Functor, typename T>
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inline bool VariadicEvaluate(const Functor& functor,
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T const* const* input,
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T* output) {
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if constexpr (std::is_base_of_v<CostFunction, Functor>) {
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return functor.Evaluate(input, output, nullptr);
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} else {
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if constexpr (ParameterDims::kIsDynamic) {
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return functor(input, output);
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} else {
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constexpr int kNumParameterBlocks = ParameterDims::kNumParameterBlocks;
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static_assert(kNumParameterBlocks > 0,
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"Invalid number of parameter blocks. At least one "
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"parameter block must be specified.");
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std::array<const T*, kNumParameterBlocks> parameter_blocks;
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std::copy_n(input, kNumParameterBlocks, parameter_blocks.begin());
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return std::apply(
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[&functor, output](auto const*... blocks) {
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static_assert(
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std::is_invocable_v<const Functor&, decltype(blocks)..., T*>,
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"The provided Functor's operator() signature does not match "
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"the expected number of parameter blocks defined in "
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"ParameterDims.");
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return std::invoke(functor, blocks..., output);
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},
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parameter_blocks);
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}
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}
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}
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// When differentiating dynamically sized CostFunctions, VariadicEvaluate
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// expects a functor with the signature:
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//
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// bool operator()(double const* const* parameters, double* cost) const
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//
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// However for NumericDiffFirstOrderFunction, the functor has the signature
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//
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// bool operator()(double const* parameters, double* cost) const
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//
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// This thin wrapper adapts the latter to the former.
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template <typename Functor>
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class FirstOrderFunctorAdapter {
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public:
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explicit FirstOrderFunctorAdapter(const Functor& functor)
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: functor_(functor) {}
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bool operator()(double const* const* parameters, double* cost) const {
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return functor_(*parameters, cost);
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}
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private:
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const Functor& functor_;
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};
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} // namespace ceres::internal
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#endif // CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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