diff options
Diffstat (limited to 'extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h')
| -rw-r--r-- | extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h | 125 |
1 files changed, 48 insertions, 77 deletions
diff --git a/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h b/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h index 5770946a115..119b3f85e8e 100644 --- a/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h +++ b/extern/ceres/include/ceres/dynamic_numeric_diff_cost_function.h @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2019 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -30,7 +30,24 @@ // sameeragarwal@google.com (Sameer Agarwal) // thadh@gmail.com (Thad Hughes) // tbennun@gmail.com (Tal Ben-Nun) -// + +#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ +#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ + +#include <cmath> +#include <memory> +#include <numeric> +#include <vector> + +#include "ceres/dynamic_cost_function.h" +#include "ceres/internal/eigen.h" +#include "ceres/internal/numeric_diff.h" +#include "ceres/internal/parameter_dims.h" +#include "ceres/numeric_diff_options.h" +#include "glog/logging.h" + +namespace ceres { + // This numeric diff implementation differs from the one found in // numeric_diff_cost_function.h by supporting numericdiff on cost // functions with variable numbers of parameters with variable @@ -42,7 +59,9 @@ // numeric diff; the expected interface for the cost functors is: // // struct MyCostFunctor { -// bool operator()(double const* const* parameters, double* residuals) const { +// bool operator()(double const* +// const* parameters, +// double* residuals) const { // // Use parameters[i] to access the i'th parameter block. // } // } @@ -56,34 +75,14 @@ // cost_function.AddParameterBlock(5); // cost_function.AddParameterBlock(10); // cost_function.SetNumResiduals(21); - -#ifndef CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ -#define CERES_PUBLIC_DYNAMIC_NUMERIC_DIFF_COST_FUNCTION_H_ - -#include <cmath> -#include <numeric> -#include <vector> - -#include "ceres/cost_function.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/internal/eigen.h" -#include "ceres/internal/numeric_diff.h" -#include "ceres/numeric_diff_options.h" -#include "glog/logging.h" - -namespace ceres { - template <typename CostFunctor, NumericDiffMethodType method = CENTRAL> -class DynamicNumericDiffCostFunction : public CostFunction { +class DynamicNumericDiffCostFunction : public DynamicCostFunction { public: explicit DynamicNumericDiffCostFunction( const CostFunctor* functor, Ownership ownership = TAKE_OWNERSHIP, const NumericDiffOptions& options = NumericDiffOptions()) - : functor_(functor), - ownership_(ownership), - options_(options) { - } + : functor_(functor), ownership_(ownership), options_(options) {} virtual ~DynamicNumericDiffCostFunction() { if (ownership_ != TAKE_OWNERSHIP) { @@ -91,28 +90,22 @@ class DynamicNumericDiffCostFunction : public CostFunction { } } - void AddParameterBlock(int size) { - mutable_parameter_block_sizes()->push_back(size); - } - - void SetNumResiduals(int num_residuals) { - set_num_residuals(num_residuals); - } - - virtual bool Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const { + bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const override { using internal::NumericDiff; CHECK_GT(num_residuals(), 0) << "You must call DynamicNumericDiffCostFunction::SetNumResiduals() " << "before DynamicNumericDiffCostFunction::Evaluate()."; - const std::vector<int32>& block_sizes = parameter_block_sizes(); + const std::vector<int32_t>& block_sizes = parameter_block_sizes(); CHECK(!block_sizes.empty()) << "You must call DynamicNumericDiffCostFunction::AddParameterBlock() " << "before DynamicNumericDiffCostFunction::Evaluate()."; - const bool status = EvaluateCostFunctor(parameters, residuals); + const bool status = + internal::VariadicEvaluate<internal::DynamicParameterDims>( + *functor_.get(), parameters, residuals); if (jacobians == NULL || !status) { return status; } @@ -123,8 +116,8 @@ class DynamicNumericDiffCostFunction : public CostFunction { std::vector<double*> parameters_references_copy(block_sizes.size()); parameters_references_copy[0] = ¶meters_copy[0]; for (size_t block = 1; block < block_sizes.size(); ++block) { - parameters_references_copy[block] = parameters_references_copy[block - 1] - + block_sizes[block - 1]; + parameters_references_copy[block] = + parameters_references_copy[block - 1] + block_sizes[block - 1]; } // Copy the parameters into the local temp space. @@ -136,18 +129,20 @@ class DynamicNumericDiffCostFunction : public CostFunction { for (size_t block = 0; block < block_sizes.size(); ++block) { if (jacobians[block] != NULL && - !NumericDiff<CostFunctor, method, DYNAMIC, - DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, - DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, - DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock( - functor_.get(), - residuals, - options_, - this->num_residuals(), - block, - block_sizes[block], - ¶meters_references_copy[0], - jacobians[block])) { + !NumericDiff<CostFunctor, + method, + ceres::DYNAMIC, + internal::DynamicParameterDims, + ceres::DYNAMIC, + ceres::DYNAMIC>:: + EvaluateJacobianForParameterBlock(functor_.get(), + residuals, + options_, + this->num_residuals(), + block, + block_sizes[block], + ¶meters_references_copy[0], + jacobians[block])) { return false; } } @@ -155,31 +150,7 @@ class DynamicNumericDiffCostFunction : public CostFunction { } private: - bool EvaluateCostFunctor(double const* const* parameters, - double* residuals) const { - return EvaluateCostFunctorImpl(functor_.get(), - parameters, - residuals, - functor_.get()); - } - - // Helper templates to allow evaluation of a functor or a - // CostFunction. - bool EvaluateCostFunctorImpl(const CostFunctor* functor, - double const* const* parameters, - double* residuals, - const void* /* NOT USED */) const { - return (*functor)(parameters, residuals); - } - - bool EvaluateCostFunctorImpl(const CostFunctor* functor, - double const* const* parameters, - double* residuals, - const CostFunction* /* NOT USED */) const { - return functor->Evaluate(parameters, residuals, NULL); - } - - internal::scoped_ptr<const CostFunctor> functor_; + std::unique_ptr<const CostFunctor> functor_; Ownership ownership_; NumericDiffOptions options_; }; |