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Diffstat (limited to 'extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h | 351 |
1 files changed, 0 insertions, 351 deletions
diff --git a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h b/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h deleted file mode 100644 index a29eb97fa6e..00000000000 --- a/extern/libmv/third_party/ceres/include/ceres/numeric_diff_functor.h +++ /dev/null @@ -1,351 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2013 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: sameeragarwal@google.com (Sameer Agarwal) -// -// A wrapper class that takes a variadic functor evaluating a -// function, numerically differentiates it and makes it available as a -// templated functor so that it can be easily used as part of Ceres' -// automatic differentiation framework. -// -// For example: -// -// For example, let us assume that -// -// struct IntrinsicProjection -// IntrinsicProjection(const double* observations); -// bool operator()(const double* calibration, -// const double* point, -// double* residuals); -// }; -// -// is a functor that implements the projection of a point in its local -// coordinate system onto its image plane and subtracts it from the -// observed point projection. -// -// Now we would like to compose the action of this functor with the -// action of camera extrinsics, i.e., rotation and translation, which -// is given by the following templated function -// -// template<typename T> -// void RotateAndTranslatePoint(const T* rotation, -// const T* translation, -// const T* point, -// T* result); -// -// To compose the extrinsics and intrinsics, we can construct a -// CameraProjection functor as follows. -// -// struct CameraProjection { -// typedef NumericDiffFunctor<IntrinsicProjection, CENTRAL, 2, 5, 3> -// IntrinsicProjectionFunctor; -// -// CameraProjection(double* observation) { -// intrinsic_projection_.reset( -// new IntrinsicProjectionFunctor(observation)) { -// } -// -// template <typename T> -// bool operator()(const T* rotation, -// const T* translation, -// const T* intrinsics, -// const T* point, -// T* residuals) const { -// T transformed_point[3]; -// RotateAndTranslatePoint(rotation, translation, point, transformed_point); -// return (*intrinsic_projection_)(intrinsics, transformed_point, residual); -// } -// -// private: -// scoped_ptr<IntrinsicProjectionFunctor> intrinsic_projection_; -// }; -// -// Here, we made the choice of using CENTRAL differences to compute -// the jacobian of IntrinsicProjection. -// -// Now, we are ready to construct an automatically differentiated cost -// function as -// -// CostFunction* cost_function = -// new AutoDiffCostFunction<CameraProjection, 2, 3, 3, 5>( -// new CameraProjection(observations)); -// -// cost_function now seamlessly integrates automatic differentiation -// of RotateAndTranslatePoint with a numerically differentiated -// version of IntrinsicProjection. - -#ifndef CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_ -#define CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_ - -#include "ceres/numeric_diff_cost_function.h" -#include "ceres/types.h" -#include "ceres/cost_function_to_functor.h" - -namespace ceres { - -template<typename Functor, - NumericDiffMethod kMethod = CENTRAL, - int kNumResiduals = 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> -class NumericDiffFunctor { - public: - // relative_step_size controls the step size used by the numeric - // differentiation process. - explicit NumericDiffFunctor(double relative_step_size = 1e-6) - : functor_( - new NumericDiffCostFunction<Functor, - kMethod, - kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9>(new Functor, - TAKE_OWNERSHIP, - kNumResiduals, - relative_step_size)) { - } - - NumericDiffFunctor(Functor* functor, double relative_step_size = 1e-6) - : functor_(new NumericDiffCostFunction<Functor, - kMethod, - kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9>( - functor, - TAKE_OWNERSHIP, - kNumResiduals, - relative_step_size)) { - } - - bool operator()(const double* x0, double* residuals) const { - return functor_(x0, residuals); - } - - bool operator()(const double* x0, - const double* x1, - double* residuals) const { - return functor_(x0, x1, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - double* residuals) const { - return functor_(x0, x1, x2, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - double* residuals) const { - return functor_(x0, x1, x2, x3, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - const double* x8, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals); - } - - bool operator()(const double* x0, - const double* x1, - const double* x2, - const double* x3, - const double* x4, - const double* x5, - const double* x6, - const double* x7, - const double* x8, - const double* x9, - double* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals); - } - - template <typename T> - bool operator()(const T* x0, T* residuals) const { - return functor_(x0, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - T* residuals) const { - return functor_(x0, x1, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - T* residuals) const { - return functor_(x0, x1, x2, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - T* residuals) const { - return functor_(x0, x1, x2, x3, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - const T* x5, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - const T* x5, - const T* x6, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - const T* x5, - const T* x6, - const T* x7, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - const T* x5, - const T* x6, - const T* x7, - const T* x8, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals); - } - - template <typename T> - bool operator()(const T* x0, - const T* x1, - const T* x2, - const T* x3, - const T* x4, - const T* x5, - const T* x6, - const T* x7, - const T* x8, - const T* x9, - T* residuals) const { - return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals); - } - - - private: - CostFunctionToFunctor<kNumResiduals, - N0, N1, N2, N3, N4, - N5, N6, N7, N8, N9> functor_; -}; - -} // namespace ceres - -#endif // CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_ |