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author | Angus Kong <shkong@google.com> | 2013-02-13 14:56:04 -0800 |
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committer | Angus Kong <shkong@google.com> | 2013-02-14 13:33:05 -0800 |
commit | 0ae28bd5885b5daa526898fcf7c323dc2c3e1963 (patch) | |
tree | 487c4897ae7509fb4e05751b0a673a8090e26d41 /include/ceres/sized_cost_function.h | |
parent | e9e9be9383b479ac1573370ab221ffbac4de8c90 (diff) | |
download | ceres-solver-0ae28bd5885b5daa526898fcf7c323dc2c3e1963.tar.gz |
Initial import of ceres-solver 1.4.0android-4.3_r3.1android-4.3_r3android-4.3_r2.3android-4.3_r2.2android-4.3_r2.1android-4.3_r2android-4.3_r1.1android-4.3_r1android-4.3_r0.9.1android-4.3_r0.9android-4.3.1_r1tools_r22.2jb-mr2.0.0-releasejb-mr2.0-releasejb-mr2-releasejb-mr2-dev
Added a NOTICE and a MODULE_LICENSE_BSD file.
Added Android.mk for master build and unbundled build.
Added CleanSpec.mk to optimize Android build.
Change-Id: I6cd82bcabc1a94b10239f9fca017de0afd20e769
Diffstat (limited to 'include/ceres/sized_cost_function.h')
-rw-r--r-- | include/ceres/sized_cost_function.h | 96 |
1 files changed, 96 insertions, 0 deletions
diff --git a/include/ceres/sized_cost_function.h b/include/ceres/sized_cost_function.h new file mode 100644 index 0000000..6bfc1af --- /dev/null +++ b/include/ceres/sized_cost_function.h @@ -0,0 +1,96 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 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: keir@google.com (Keir Mierle) +// +// A convenience class for cost functions which are statically sized. +// Compared to the dynamically-sized base class, this reduces boilerplate. +// +// The kNumResiduals template parameter can be a constant such as 2 or 5, or it +// can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses +// are responsible for calling set_num_residuals() at runtime. + +#ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_ +#define CERES_PUBLIC_SIZED_COST_FUNCTION_H_ + +#include <glog/logging.h> +#include "ceres/types.h" +#include "ceres/cost_function.h" + +namespace ceres { + +template<int kNumResiduals, + int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, + int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0> +class SizedCostFunction : public CostFunction { + public: + SizedCostFunction() { + CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC) + << "Cost functions must have at least one residual block."; + + // This block breaks the 80 column rule to keep it somewhat readable. + CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || + ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) + << "Zero block cannot precede a non-zero block. Block sizes are " + << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", " + << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", " + << N8 << ", " << N9; + + set_num_residuals(kNumResiduals); + +#define ADD_PARAMETER_BLOCK(N) \ + if (N) mutable_parameter_block_sizes()->push_back(N); + ADD_PARAMETER_BLOCK(N0); + ADD_PARAMETER_BLOCK(N1); + ADD_PARAMETER_BLOCK(N2); + ADD_PARAMETER_BLOCK(N3); + ADD_PARAMETER_BLOCK(N4); + ADD_PARAMETER_BLOCK(N5); + ADD_PARAMETER_BLOCK(N6); + ADD_PARAMETER_BLOCK(N7); + ADD_PARAMETER_BLOCK(N8); + ADD_PARAMETER_BLOCK(N9); +#undef ADD_PARAMETER_BLOCK + } + + virtual ~SizedCostFunction() { } + + // Subclasses must implement Evaluate(). +}; + +} // namespace ceres + +#endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_ |