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https://github.com/ceres-solver/ceres-solver.git
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Darius Rueckert
032d5844c2
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
66 lines
2.6 KiB
C++
66 lines
2.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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: darius.rueckert@fau.de (Darius Rueckert)
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//
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// A simple example showing how to generate code for a cost functor
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#include "ceres/ceres.h"
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#include "glog/logging.h"
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#include "helloworld_cost_function.h"
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using ceres::CostFunction;
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using ceres::Problem;
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using ceres::Solve;
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using ceres::Solver;
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int main(int argc, char** argv) {
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google::InitGoogleLogging(argv[0]);
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// The variable to solve for with its initial value. It will be
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// mutated in place by the solver.
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double x = 0.5;
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const double initial_x = x;
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Problem problem;
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const double kTargetValue = 10.0;
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CostFunction* cost_function =
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new helloworld::HelloWorldCostFunction(kTargetValue);
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problem.AddResidualBlock(cost_function, NULL, &x);
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Solver::Options options;
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options.minimizer_progress_to_stdout = true;
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Solver::Summary summary;
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Solve(options, &problem, &summary);
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std::cout << summary.BriefReport() << "\n";
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std::cout << "x : " << initial_x << " -> " << x << "\n";
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return 0;
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}
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