mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
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
91 lines
3.9 KiB
C++
91 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2019 Google Inc. All rights reserved.
|
|
// http://code.google.com/p/ceres-solver/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: darius.rueckert@fau.de (Darius Rueckert)
|
|
//
|
|
#ifndef CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_
|
|
#define CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_
|
|
|
|
#include "ceres/codegen/macros.h"
|
|
#include "ceres/sized_cost_function.h"
|
|
|
|
namespace ceres {
|
|
|
|
// This is the interface for automatically generating cost functor derivative
|
|
// code. The template parameters are identical to those of SizedCostFunction<>.
|
|
// The behaviour of this class changes between code generation and problem
|
|
// solving.
|
|
//
|
|
// During code generation (when CERES_CODEGEN is defined), this class doesn't do
|
|
// anything. The templated operator() from your derived cost functor is used.
|
|
//
|
|
// After code generation (when CERES_CODEGEN is not defined), this class is a
|
|
// SizedCostFunction. The required Evaluate() function was generated and must be
|
|
// included into your cost functor.
|
|
//
|
|
// Usage Example:
|
|
//
|
|
// #include "ceres/codegen/cost_function.h"
|
|
//
|
|
// struct HelloWorldCostFunction : public ceres::CodegenCostFunction<1, 1> {
|
|
// // A default constructor is required, because the code generator has to
|
|
// // create an object of the cost function.
|
|
// HelloWorldCostFunction() = default;
|
|
// template <typename T>
|
|
// bool operator()(const T* x, T* residual) const {
|
|
// residual[0] = x[0] * x[0];
|
|
// return true;
|
|
// }
|
|
// #include "examples/helloworldcostfunction.h"
|
|
// };
|
|
|
|
template <int kNumResiduals_, int... Ns>
|
|
class CodegenCostFunction
|
|
#ifdef CERES_CODEGEN
|
|
// During code generation we can't derive from SizedCostFunction.
|
|
// The variadic evaluation with Jets would try to call the empty Evaluate()
|
|
// instead of the templated functor.
|
|
#else
|
|
: public SizedCostFunction<kNumResiduals_, Ns...>
|
|
#endif
|
|
{
|
|
public:
|
|
static constexpr int kNumResiduals = kNumResiduals_;
|
|
static_assert(kNumResiduals > 0,
|
|
"Cost functions must have at least one residual block.");
|
|
static_assert(kNumResiduals != DYNAMIC,
|
|
"Code generation for dynamic residuals is not yet supported.");
|
|
static_assert(internal::StaticParameterDims<Ns...>::kIsValid,
|
|
"Invalid parameter block dimension detected. Each parameter "
|
|
"block dimension must be bigger than zero.");
|
|
using ParameterDims = internal::StaticParameterDims<Ns...>;
|
|
};
|
|
|
|
} // namespace ceres
|
|
#endif // CERES_PUBLIC_CODEGEN_COST_FUNCTION_H_
|