mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
fdeb5772cc
This commit modifies the only function in autodiff that takes a templated number of outputs (i.e. residuals) and makes that template parameter a normal parameter. With that change, it is a trivial matter to support a dynamic number of residuals. The API for dynamic residuals is to pass a fake number of residuals as the second template argument to AutoDiffCostFunction, and to pass the real number of parameters as a second constructor argument.
89 lines
3.7 KiB
C++
89 lines
3.7 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle)
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//
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// A convenience class for cost functions which are statically sized.
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// Compared to the dynamically-sized base class, this reduces boilerplate.
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//
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// The kNumResiduals template parameter can be a constant such as 2 or 5, or it
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// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses
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// are responsible for calling set_num_residuals() at runtime.
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#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_
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#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_
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#include <glog/logging.h>
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#include "ceres/types.h"
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#include "ceres/cost_function.h"
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namespace ceres {
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template<int kNumResiduals,
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int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5 = 0>
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class SizedCostFunction : public CostFunction {
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public:
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SizedCostFunction() {
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// Sanity checking.
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CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC)
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<< "Cost functions must have at least one residual block.";
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CHECK_GT(N0, 0)
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<< "Cost functions must have at least one parameter block.";
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CHECK((!N1 && !N2 && !N3 && !N4 && !N5) ||
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((N1 > 0) && !N2 && !N3 && !N4 && !N5) ||
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((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5) ||
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((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5) ||
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5) ||
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0)))
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<< "Zero block cannot precede a non-zero block. Block sizes are "
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<< "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", "
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<< N3 << ", " << N4 << ", " << N5;
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set_num_residuals(kNumResiduals);
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#define ADD_PARAMETER_BLOCK(N) \
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if (N) mutable_parameter_block_sizes()->push_back(N);
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ADD_PARAMETER_BLOCK(N0);
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ADD_PARAMETER_BLOCK(N1);
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ADD_PARAMETER_BLOCK(N2);
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ADD_PARAMETER_BLOCK(N3);
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ADD_PARAMETER_BLOCK(N4);
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ADD_PARAMETER_BLOCK(N5);
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#undef ADD_PARAMETER_BLOCK
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}
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virtual ~SizedCostFunction() { }
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// Subclasses must implement Evaluate().
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};
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} // namespace ceres
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#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_
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