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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/runtime_numeric_diff_cost_function.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/runtime_numeric_diff_cost_function.h | 87 |
1 files changed, 0 insertions, 87 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/runtime_numeric_diff_cost_function.h b/extern/libmv/third_party/ceres/internal/ceres/runtime_numeric_diff_cost_function.h deleted file mode 100644 index 01b57f92ef3..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/runtime_numeric_diff_cost_function.h +++ /dev/null @@ -1,87 +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: keir@google.com (Keir Mierle) -// -// Create CostFunctions as needed by the least squares framework with jacobians -// computed via numeric differentiation. -// -// To get a numerically differentiated cost function, define a subclass of -// CostFunction such that the Evaluate() function ignores the jacobian -// parameter. The numeric differentiation wrapper will fill in the jacobian -// parameter if nececssary by repeatedly calling the Evaluate() function with -// small changes to the appropriate parameters, and computing the slope. This -// implementation is not templated (hence the "Runtime" prefix), which is a bit -// slower than but is more convenient than the templated version in -// numeric_diff_cost_function.h -// -// The numerically differentiated version of a cost function for a cost function -// can be constructed as follows: -// -// CostFunction* cost_function = -// CreateRuntimeNumericDiffCostFunction(new MyCostFunction(...), -// CENTRAL, -// TAKE_OWNERSHIP); -// -// The central difference method is considerably more accurate; consider using -// to start and only after that works, trying forward difference. -// -// TODO(keir): Characterize accuracy; mention pitfalls; provide alternatives. - -#ifndef CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_ -#define CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_ - -#include "ceres/cost_function.h" - -namespace ceres { -namespace internal { - -enum RuntimeNumericDiffMethod { - CENTRAL, - FORWARD, -}; - -// Create a cost function that evaluates the derivative with finite differences. -// The base cost_function's implementation of Evaluate() only needs to fill in -// the "residuals" argument and not the "jacobians". Any data written to the -// jacobians by the base cost_function is overwritten. -// -// Forward difference or central difference is selected with CENTRAL or FORWARD. -// The relative eps, which determines the step size for forward and central -// differencing, is set with relative eps. Caller owns the resulting cost -// function, and the resulting cost function does not own the base cost -// function. -CostFunction *CreateRuntimeNumericDiffCostFunction( - const CostFunction *cost_function, - RuntimeNumericDiffMethod method, - double relative_eps); - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_RUNTIME_NUMERIC_DIFF_COST_FUNCTION_H_ |