mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
97 lines
4.6 KiB
C++
97 lines
4.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: 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 "ceres/types.h"
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#include "ceres/cost_function.h"
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#include "glog/logging.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,
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int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
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class SizedCostFunction : public CostFunction {
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public:
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SizedCostFunction() {
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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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// This block breaks the 80 column rule to keep it somewhat readable.
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CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
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((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) ||
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((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT
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((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT
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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 << ", " << N6 << ", " << N7 << ", "
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<< N8 << ", " << N9;
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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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ADD_PARAMETER_BLOCK(N6);
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ADD_PARAMETER_BLOCK(N7);
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ADD_PARAMETER_BLOCK(N8);
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ADD_PARAMETER_BLOCK(N9);
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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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