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path: root/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
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Diffstat (limited to 'extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h')
-rw-r--r--extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h158
1 files changed, 52 insertions, 106 deletions
diff --git a/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h b/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
index 4f5081f8f66..011f2a05b65 100644
--- a/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
+++ b/extern/libmv/third_party/ceres/include/ceres/internal/autodiff.h
@@ -146,6 +146,7 @@
#include "ceres/jet.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/fixed_array.h"
+#include "ceres/internal/variadic_evaluate.h"
namespace ceres {
namespace internal {
@@ -191,134 +192,71 @@ inline void Take1stOrderPart(const int M, const JetT *src, T *dst) {
DCHECK(src);
DCHECK(dst);
for (int i = 0; i < M; ++i) {
- Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) = src[i].v.template segment<N>(N0);
+ Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) =
+ src[i].v.template segment<N>(N0);
}
}
-// This block of quasi-repeated code calls the user-supplied functor, which may
-// take a variable number of arguments. This is accomplished by specializing the
-// struct based on the size of the trailing parameters; parameters with 0 size
-// are assumed missing.
-//
-// Supporting variadic functions is the primary source of complexity in the
-// autodiff implementation.
-
-template<typename Functor, typename T,
- int N0, int N1, int N2, int N3, int N4, int N5>
-struct VariadicEvaluate {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- input[1],
- input[2],
- input[3],
- input[4],
- input[5],
- output);
- }
-};
-
-template<typename Functor, typename T,
- int N0, int N1, int N2, int N3, int N4>
-struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0> {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- input[1],
- input[2],
- input[3],
- input[4],
- output);
- }
-};
-
-template<typename Functor, typename T,
- int N0, int N1, int N2, int N3>
-struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0> {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- input[1],
- input[2],
- input[3],
- output);
- }
-};
-
-template<typename Functor, typename T,
- int N0, int N1, int N2>
-struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0> {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- input[1],
- input[2],
- output);
- }
-};
-
-template<typename Functor, typename T,
- int N0, int N1>
-struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0> {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- input[1],
- output);
- }
-};
-
-template<typename Functor, typename T, int N0>
-struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0> {
- static bool Call(const Functor& functor, T const *const *input, T* output) {
- return functor(input[0],
- output);
- }
-};
-
-// This is in a struct because default template parameters on a function are not
-// supported in C++03 (though it is available in C++0x). N0 through N5 are the
-// dimension of the input arguments to the user supplied functor.
+// This is in a struct because default template parameters on a
+// function are not supported in C++03 (though it is available in
+// C++0x). N0 through N5 are the dimension of the input arguments to
+// the user supplied functor.
template <typename Functor, typename T,
- int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, int N5=0>
+ 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>
struct AutoDiff {
static bool Differentiate(const Functor& functor,
T const *const *parameters,
int num_outputs,
T *function_value,
T **jacobians) {
- typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5> JetT;
-
- DCHECK_GT(N0, 0)
- << "Cost functions must have at least one parameter block.";
- DCHECK((!N1 && !N2 && !N3 && !N4 && !N5) ||
- ((N1 > 0) && !N2 && !N3 && !N4 && !N5) ||
- ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5) ||
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5) ||
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5) ||
- ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0)))
+ // This block breaks the 80 column rule to keep it somewhat readable.
+ DCHECK_GT(num_outputs, 0);
+ 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;
-
- DCHECK_GT(num_outputs, 0);
+ << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
+ << N8 << ", " << N9;
+ typedef Jet<T, N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9> JetT;
FixedArray<JetT, (256 * 7) / sizeof(JetT)> x(
- N0 + N1 + N2 + N3 + N4 + N5 + num_outputs);
+ N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9 + num_outputs);
- // It's ugly, but it works.
- const int jet0 = 0;
- const int jet1 = N0;
- const int jet2 = N0 + N1;
- const int jet3 = N0 + N1 + N2;
- const int jet4 = N0 + N1 + N2 + N3;
- const int jet5 = N0 + N1 + N2 + N3 + N4;
- const int jet6 = N0 + N1 + N2 + N3 + N4 + N5;
+ // These are the positions of the respective jets in the fixed array x.
+ const int jet0 = 0;
+ const int jet1 = N0;
+ const int jet2 = N0 + N1;
+ const int jet3 = N0 + N1 + N2;
+ const int jet4 = N0 + N1 + N2 + N3;
+ const int jet5 = N0 + N1 + N2 + N3 + N4;
+ const int jet6 = N0 + N1 + N2 + N3 + N4 + N5;
+ const int jet7 = N0 + N1 + N2 + N3 + N4 + N5 + N6;
+ const int jet8 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7;
+ const int jet9 = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8;
- const JetT *unpacked_parameters[6] = {
+ const JetT *unpacked_parameters[10] = {
x.get() + jet0,
x.get() + jet1,
x.get() + jet2,
x.get() + jet3,
x.get() + jet4,
x.get() + jet5,
+ x.get() + jet6,
+ x.get() + jet7,
+ x.get() + jet8,
+ x.get() + jet9,
};
- JetT *output = x.get() + jet6;
+
+ JetT* output = x.get() + N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
#define CERES_MAKE_1ST_ORDER_PERTURBATION(i) \
if (N ## i) { \
@@ -333,10 +271,14 @@ struct AutoDiff {
CERES_MAKE_1ST_ORDER_PERTURBATION(3);
CERES_MAKE_1ST_ORDER_PERTURBATION(4);
CERES_MAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_MAKE_1ST_ORDER_PERTURBATION(9);
#undef CERES_MAKE_1ST_ORDER_PERTURBATION
if (!VariadicEvaluate<Functor, JetT,
- N0, N1, N2, N3, N4, N5>::Call(
+ N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Call(
functor, unpacked_parameters, output)) {
return false;
}
@@ -359,6 +301,10 @@ struct AutoDiff {
CERES_TAKE_1ST_ORDER_PERTURBATION(3);
CERES_TAKE_1ST_ORDER_PERTURBATION(4);
CERES_TAKE_1ST_ORDER_PERTURBATION(5);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(6);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(7);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(8);
+ CERES_TAKE_1ST_ORDER_PERTURBATION(9);
#undef CERES_TAKE_1ST_ORDER_PERTURBATION
return true;
}
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