diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/residual_block.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/residual_block.h | 148 |
1 files changed, 0 insertions, 148 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h b/extern/libmv/third_party/ceres/internal/ceres/residual_block.h deleted file mode 100644 index 9c3671bb0a4..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/residual_block.h +++ /dev/null @@ -1,148 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2010, 2011, 2012 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) -// keir@google.com (Keir Mierle) -// -// Purpose : Class and struct definitions for parameter and residual blocks. - -#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_H_ -#define CERES_INTERNAL_RESIDUAL_BLOCK_H_ - -#include <string> -#include <vector> - -#include "ceres/cost_function.h" -#include "ceres/internal/port.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/stringprintf.h" -#include "ceres/types.h" - -namespace ceres { - -class LossFunction; - -namespace internal { - -class ParameterBlock; - -// A term in the least squares problem. The mathematical form of each term in -// the overall least-squares cost function is: -// -// 1 -// --- loss_function( || cost_function(block1, block2, ...) ||^2 ), -// 2 -// -// Storing the cost function and the loss function separately permits optimizing -// the problem with standard non-linear least techniques, without requiring a -// more general non-linear solver. -// -// The residual block stores pointers to but does not own the cost functions, -// loss functions, and parameter blocks. -class ResidualBlock { - public: - // Construct the residual block with the given cost/loss functions. Loss may - // be null. The index is the index of the residual block in the Program's - // residual_blocks array. - ResidualBlock(const CostFunction* cost_function, - const LossFunction* loss_function, - const vector<ParameterBlock*>& parameter_blocks, - int index); - - // Evaluates the residual term, storing the scalar cost in *cost, the residual - // components in *residuals, and the jacobians between the parameters and - // residuals in jacobians[i], in row-major order. If residuals is NULL, the - // residuals are not computed. If jacobians is NULL, no jacobians are - // computed. If jacobians[i] is NULL, then the jacobian for that parameter is - // not computed. - // - // Evaluate needs scratch space which must be supplied by the caller via - // scratch. The array should have at least NumScratchDoublesForEvaluate() - // space available. - // - // The return value indicates the success or failure. If the function returns - // false, the caller should expect the the output memory locations to have - // been modified. - // - // The returned cost and jacobians have had robustification and local - // parameterizations applied already; for example, the jacobian for a - // 4-dimensional quaternion parameter using the "QuaternionParameterization" - // is num_residuals by 3 instead of num_residuals by 4. - // - // apply_loss_function as the name implies allows the user to switch - // the application of the loss function on and off. - bool Evaluate(bool apply_loss_function, - double* cost, - double* residuals, - double** jacobians, - double* scratch) const; - - - const CostFunction* cost_function() const { return cost_function_; } - const LossFunction* loss_function() const { return loss_function_; } - - // Access the parameter blocks for this residual. The array has size - // NumParameterBlocks(). - ParameterBlock* const* parameter_blocks() const { - return parameter_blocks_.get(); - } - - // Number of variable blocks that this residual term depends on. - int NumParameterBlocks() const { - return cost_function_->parameter_block_sizes().size(); - } - - // The size of the residual vector returned by this residual function. - int NumResiduals() const { return cost_function_->num_residuals(); } - - // The minimum amount of scratch space needed to pass to Evaluate(). - int NumScratchDoublesForEvaluate() const; - - // This residual block's index in an array. - int index() const { return index_; } - void set_index(int index) { index_ = index; } - - string ToString() { - return StringPrintf("{residual block; index=%d}", index_); - } - - private: - const CostFunction* cost_function_; - const LossFunction* loss_function_; - scoped_array<ParameterBlock*> parameter_blocks_; - - // The index of the residual, typically in a Program. This is only to permit - // switching from a ResidualBlock* to an index in the Program's array, needed - // to do efficient removals. - int32 index_; -}; - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_RESIDUAL_BLOCK_H_ |