diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h | 42 |
1 files changed, 30 insertions, 12 deletions
diff --git a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h b/extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h index a47a66d9672..de6b74ad552 100644 --- a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h +++ b/extern/libmv/third_party/ceres/include/ceres/numeric_diff_cost_function.h @@ -95,6 +95,21 @@ // "MyScalarCostFunctor", "1, 2, 2", describe the functor as computing // a 1-dimensional output from two arguments, both 2-dimensional. // +// NumericDiffCostFunction also supports cost functions with a +// runtime-determined number of residuals. For example: +// +// CostFunction* cost_function +// = new NumericDiffCostFunction<MyScalarCostFunctor, CENTRAL, DYNAMIC, 2, 2>( +// new CostFunctorWithDynamicNumResiduals(1.0), ^ ^ ^ +// TAKE_OWNERSHIP, | | | +// runtime_number_of_residuals); <----+ | | | +// | | | | +// | | | | +// Actual number of residuals ------+ | | | +// Indicate dynamic number of residuals --------------------+ | | +// Dimension of x ------------------------------------------------+ | +// Dimension of y ---------------------------------------------------+ +// // The framework can currently accommodate cost functions of up to 10 // independent variables, and there is no limit on the dimensionality // of each of them. @@ -104,8 +119,6 @@ // central differences begin with, and only after that works, trying forward // difference to improve performance. // -// TODO(sameeragarwal): Add support for dynamic number of residuals. -// // WARNING #1: A common beginner's error when first using // NumericDiffCostFunction is to get the sizing wrong. In particular, // there is a tendency to set the template parameters to (dimension of @@ -177,17 +190,19 @@ class NumericDiffCostFunction N5, N6, N7, N8, N9> { public: NumericDiffCostFunction(CostFunctor* functor, + Ownership ownership = TAKE_OWNERSHIP, + int num_residuals = kNumResiduals, const double relative_step_size = 1e-6) :functor_(functor), - ownership_(TAKE_OWNERSHIP), - relative_step_size_(relative_step_size) {} - - NumericDiffCostFunction(CostFunctor* functor, - Ownership ownership, - const double relative_step_size = 1e-6) - : functor_(functor), - ownership_(ownership), - relative_step_size_(relative_step_size) {} + ownership_(ownership), + relative_step_size_(relative_step_size) { + if (kNumResiduals == DYNAMIC) { + SizedCostFunction<kNumResiduals, + N0, N1, N2, N3, N4, + N5, N6, N7, N8, N9> + ::set_num_residuals(num_residuals); + } + } ~NumericDiffCostFunction() { if (ownership_ != TAKE_OWNERSHIP) { @@ -216,7 +231,7 @@ class NumericDiffCostFunction return false; } - if (!jacobians) { + if (jacobians == NULL) { return true; } @@ -264,6 +279,9 @@ class NumericDiffCostFunction functor_.get(), \ residuals, \ relative_step_size_, \ + SizedCostFunction<kNumResiduals, \ + N0, N1, N2, N3, N4, \ + N5, N6, N7, N8, N9>::num_residuals(), \ parameters_reference_copy.get(), \ jacobians[block])) { \ return false; \ |