diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/c_api.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/c_api.cc | 188 |
1 files changed, 0 insertions, 188 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/c_api.cc b/extern/libmv/third_party/ceres/internal/ceres/c_api.cc deleted file mode 100644 index 1fd01c9f0bd..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/c_api.cc +++ /dev/null @@ -1,188 +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: mierle@gmail.com (Keir Mierle) -// -// An incomplete C API for Ceres. -// -// TODO(keir): Figure out why logging does not seem to work. - -#include "ceres/c_api.h" - -#include <vector> -#include <iostream> -#include <string> -#include "ceres/cost_function.h" -#include "ceres/loss_function.h" -#include "ceres/problem.h" -#include "ceres/solver.h" -#include "ceres/types.h" // for std -#include "glog/logging.h" - -using ceres::Problem; - -void ceres_init() { - // This is not ideal, but it's not clear what to do if there is no gflags and - // no access to command line arguments. - char message[] = "<unknown>"; - google::InitGoogleLogging(message); -} - -ceres_problem_t* ceres_create_problem() { - return reinterpret_cast<ceres_problem_t*>(new Problem); -} - -void ceres_free_problem(ceres_problem_t* problem) { - delete reinterpret_cast<Problem*>(problem); -} - -// This cost function wraps a C-level function pointer from the user, to bridge -// between C and C++. -class CallbackCostFunction : public ceres::CostFunction { - public: - CallbackCostFunction(ceres_cost_function_t cost_function, - void* user_data, - int num_residuals, - int num_parameter_blocks, - int* parameter_block_sizes) - : cost_function_(cost_function), - user_data_(user_data) { - set_num_residuals(num_residuals); - for (int i = 0; i < num_parameter_blocks; ++i) { - mutable_parameter_block_sizes()->push_back(parameter_block_sizes[i]); - } - } - - virtual ~CallbackCostFunction() {} - - virtual bool Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const { - return (*cost_function_)(user_data_, - const_cast<double**>(parameters), - residuals, - jacobians); - } - - private: - ceres_cost_function_t cost_function_; - void* user_data_; -}; - -// This loss function wraps a C-level function pointer from the user, to bridge -// between C and C++. -class CallbackLossFunction : public ceres::LossFunction { - public: - explicit CallbackLossFunction(ceres_loss_function_t loss_function, - void* user_data) - : loss_function_(loss_function), user_data_(user_data) {} - virtual void Evaluate(double sq_norm, double* rho) const { - (*loss_function_)(user_data_, sq_norm, rho); - } - - private: - ceres_loss_function_t loss_function_; - void* user_data_; -}; - -// Wrappers for the stock loss functions. -void* ceres_create_huber_loss_function_data(double a) { - return new ceres::HuberLoss(a); -} -void* ceres_create_softl1_loss_function_data(double a) { - return new ceres::SoftLOneLoss(a); -} -void* ceres_create_cauchy_loss_function_data(double a) { - return new ceres::CauchyLoss(a); -} -void* ceres_create_arctan_loss_function_data(double a) { - return new ceres::ArctanLoss(a); -} -void* ceres_create_tolerant_loss_function_data(double a, double b) { - return new ceres::TolerantLoss(a, b); -} - -void ceres_free_stock_loss_function_data(void* loss_function_data) { - delete reinterpret_cast<ceres::LossFunction*>(loss_function_data); -} - -void ceres_stock_loss_function(void* user_data, - double squared_norm, - double out[3]) { - reinterpret_cast<ceres::LossFunction*>(user_data) - ->Evaluate(squared_norm, out); -} - -ceres_residual_block_id_t* ceres_problem_add_residual_block( - ceres_problem_t* problem, - ceres_cost_function_t cost_function, - void* cost_function_data, - ceres_loss_function_t loss_function, - void* loss_function_data, - int num_residuals, - int num_parameter_blocks, - int* parameter_block_sizes, - double** parameters) { - Problem* ceres_problem = reinterpret_cast<Problem*>(problem); - - ceres::CostFunction* callback_cost_function = - new CallbackCostFunction(cost_function, - cost_function_data, - num_residuals, - num_parameter_blocks, - parameter_block_sizes); - - ceres::LossFunction* callback_loss_function = NULL; - if (loss_function != NULL) { - callback_loss_function = new CallbackLossFunction(loss_function, - loss_function_data); - } - - std::vector<double*> parameter_blocks(parameters, - parameters + num_parameter_blocks); - return reinterpret_cast<ceres_residual_block_id_t*>( - ceres_problem->AddResidualBlock(callback_cost_function, - callback_loss_function, - parameter_blocks)); -} - -void ceres_solve(ceres_problem_t* c_problem) { - Problem* problem = reinterpret_cast<Problem*>(c_problem); - - // TODO(keir): Obviously, this way of setting options won't scale or last. - // Instead, figure out a way to specify some of the options without - // duplicating everything. - ceres::Solver::Options options; - options.max_num_iterations = 100; - options.linear_solver_type = ceres::DENSE_QR; - options.minimizer_progress_to_stdout = true; - - ceres::Solver::Summary summary; - ceres::Solve(options, problem, &summary); - std::cout << summary.FullReport() << "\n"; -} |