mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-31 09:30:36 +08:00
Darius Rueckert
572ec4a5a5
Objects of 'Expression' can now be freely created and copied around.
This creation does NOT add them to the active ExpressionGraph any
more. The insertion into the graph is now done by ExpressionRef,
which explicitly call graph.add(...) in each operation.
This change brings the following advantages:
1. 'Expression' is now stand-alone and side-effect free
- Remove the dependency Expression->ExpressionGraph
- Expressions can be created by the optimizer
2. Explicit graph insertion
- Previously CreateCompileTimeConstant not only created an
expression, but also inserted it into the active graph. Now
this insertion is done explicitly by ExpressionRef
3. It is now easier to insert new types and members
- Should be straight forward now, because we got rid of the
3-way dependency
- This is a preparation patch for the new return-type member in
https://ceres-solver-review.googlesource.com/c/ceres-solver/+/16224
Change-Id: Icef2fe529a4db001a10d1fb6816c9dc681b14ff2
120 lines
4.7 KiB
C
120 lines
4.7 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(_template_type, _local_variable) (_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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#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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#endif
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#endif // CERES_PUBLIC_CODEGEN_MACROS_H_
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