mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Darius Rueckert
c8e35e19fd
The generated function names now include the containing namespace. For example: std::abs(...) std::sin(...) ceres::Ternary(...) This patch also fixes the generation of inf/nan compile time constants, using std::numeric_limits. Change-Id: I4a36b09c68dd2adabed49fd4f7f37c8229ab7377
130 lines
5.1 KiB
C++
130 lines
5.1 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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// This file defines the required macros to use local variables and if-else
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// branches in the AutoDiffCodeGen system. This is also the only file that
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// should be included by a user-defined cost functor.
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//
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// To generate code for your cost functor the following steps have to be
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// implemented (see below for a full example):
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//
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// 1. Include this file
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// 2. Wrap accesses to local variables in the CERES_LOCAL_VARIABLE macro.
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// 3. Replace if, else by CERES_IF, CERES_ELSE and add CERES_ENDIF
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// 4. Add a default constructor
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//
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// Example - my_cost_functor.h
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// ========================================================
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// #include "ceres/rotation.h"
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// #include "ceres/autodiff_codegen_macros.h"
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//
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// struct MyReprojectionError {
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// MyReprojectionError(double observed_x, double observed_y)
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// : observed_x(observed_x), observed_y(observed_y) {}
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//
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// // The cost functor must be default constructible!
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// MyReprojectionError() = default;
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//
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// template <typename T>
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// bool operator()(const T* const camera,
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// const T* const point,
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// T* residuals) const {
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// T p[3];
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// AngleAxisRotatePoint(camera, point, p);
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// p[0] += camera[3];
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// p[1] += camera[4];
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// p[2] += camera[5];
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//
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// // The if block is written using the macros!
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// CERES_IF(p[2] < T(0)) {
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// p[0] = -p[0];
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// p[1] = -p[1];
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// p[2] = -p[2];
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// } CERES_ELSE {
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// p[0] += T(1.0);
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// }CERES_ENDIF;
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//
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// const T& focal = camera[6];
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// const T predicted_x = focal * p[0];
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// const T predicted_y = focal * p[1];
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//
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// // The read-access to the local variables observed_x and observed_y are
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// // wrapped in the CERES_LOCAL_VARIABLE macro!
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// residuals[0] = predicted_x - CERES_LOCAL_VARIABLE(T, observed_x);
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// residuals[1] = predicted_y - CERES_LOCAL_VARIABLE(T, observed_y);
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// return true;
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// }
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// double observed_x;
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// double observed_y;
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// };
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//
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// ========================================================
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//
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// This file defines the following macros:
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//
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// CERES_LOCAL_VARIABLE
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// CERES_IF
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// CERES_ELSE
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// CERES_ENDIF
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//
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#ifndef CERES_PUBLIC_CODEGEN_MACROS_H_
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#define CERES_PUBLIC_CODEGEN_MACROS_H_
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// The CERES_CODEGEN macro is defined by the build system only during code
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// generation.
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#ifndef CERES_CODEGEN
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#define CERES_LOCAL_VARIABLE(type, local_variable) type(local_variable)
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#define CERES_IF(condition_) if (condition_)
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#define CERES_ELSE else
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#define CERES_ENDIF
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#define CERES_COMMENT(comment_)
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#else
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#define CERES_LOCAL_VARIABLE(_template_type, _local_variable) \
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ceres::internal::InputAssignment<_template_type>::Get(_local_variable, \
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#_local_variable)
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#define CERES_IF(condition_) \
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AddExpressionToGraph(ceres::internal::Expression::CreateIf((condition_).id));
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#define CERES_ELSE \
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AddExpressionToGraph(ceres::internal::Expression::CreateElse());
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#define CERES_ENDIF \
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AddExpressionToGraph(ceres::internal::Expression::CreateEndIf());
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#define CERES_COMMENT(comment_) \
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AddExpressionToGraph(ceres::internal::Expression::CreateComment(comment_))
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#endif
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namespace ceres {
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// A function equivalent to the ternary ?-operator.
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// This function is required, because in the context of code generation a
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// comparison returns an expression type which is not convertible to bool.
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inline double Ternary(bool c, double a, double b) { return c ? a : b; }
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} // namespace ceres
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#endif // CERES_PUBLIC_CODEGEN_MACROS_H_
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