| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2015 Google Inc. All rights reserved. | |
| // http://ceres-solver.org/ | |
| // | |
| // 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) | |
| // | |
| // CostFunctionToFunctor is an adapter class that allows users to use | |
| // SizedCostFunction objects in templated functors which are to be used for | |
| // automatic differentiation. This allows the user to seamlessly mix | |
| // analytic, numeric and automatic differentiation. | |
| // | |
| // For example, let us assume that | |
| // | |
| // class IntrinsicProjection : public SizedCostFunction<2, 5, 3> { | |
| // public: | |
| // IntrinsicProjection(const double* observation); | |
| // virtual bool Evaluate(double const* const* parameters, | |
| // double* residuals, | |
| // double** jacobians) const; | |
| // }; | |
| // | |
| // is a cost function that implements the projection of a point in its | |
| // local coordinate system onto its image plane and subtracts it from | |
| // the observed point projection. It can compute its residual and | |
| // either via analytic or numerical differentiation can compute its | |
| // jacobians. | |
| // | |
| // Now we would like to compose the action of this CostFunction with | |
| // the action of camera extrinsics, i.e., rotation and | |
| // translation. Say we have a templated function | |
| // | |
| // template<typename T> | |
| // void RotateAndTranslatePoint(const T* rotation, | |
| // const T* translation, | |
| // const T* point, | |
| // T* result); | |
| // | |
| // Then we can now do the following, | |
| // | |
| // struct CameraProjection { | |
| // CameraProjection(const double* observation) | |
| // : intrinsic_projection_(new IntrinsicProjection(observation)) { | |
| // } | |
| // template <typename T> | |
| // bool operator()(const T* rotation, | |
| // const T* translation, | |
| // const T* intrinsics, | |
| // const T* point, | |
| // T* residual) const { | |
| // T transformed_point[3]; | |
| // RotateAndTranslatePoint(rotation, translation, point, transformed_point); | |
| // | |
| // // Note that we call intrinsic_projection_, just like it was | |
| // // any other templated functor. | |
| // | |
| // return intrinsic_projection_(intrinsics, transformed_point, residual); | |
| // } | |
| // | |
| // private: | |
| // CostFunctionToFunctor<2,5,3> intrinsic_projection_; | |
| // }; | |
| #ifndef CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_ | |
| #define CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_ | |
| #include <numeric> | |
| #include <vector> | |
| #include "ceres/cost_function.h" | |
| #include "ceres/dynamic_cost_function_to_functor.h" | |
| #include "ceres/internal/fixed_array.h" | |
| #include "ceres/internal/port.h" | |
| #include "ceres/internal/scoped_ptr.h" | |
| namespace ceres { | |
| template <int kNumResiduals, | |
| int N0, 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 CostFunctionToFunctor { | |
| public: | |
| // Takes ownership of cost_function. | |
| explicit CostFunctionToFunctor(CostFunction* cost_function) | |
| : cost_functor_(cost_function) { | |
| CHECK_NOTNULL(cost_function); | |
| CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC); | |
| // This block breaks the 80 column rule to keep it somewhat readable. | |
| CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || | |
| ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || | |
| ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || // NOLINT | |
| ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) // NOLINT | |
| << "Zero block cannot precede a non-zero block. Block sizes are " | |
| << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", " | |
| << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", " | |
| << N8 << ", " << N9; | |
| const std::vector<int32>& parameter_block_sizes = | |
| cost_function->parameter_block_sizes(); | |
| const int num_parameter_blocks = | |
| (N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) + | |
| (N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0); | |
| CHECK_EQ(static_cast<int>(parameter_block_sizes.size()), | |
| num_parameter_blocks); | |
| CHECK_EQ(N0, parameter_block_sizes[0]); | |
| if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT | |
| if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT | |
| if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT | |
| if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT | |
| if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT | |
| if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT | |
| if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT | |
| if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT | |
| if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT | |
| CHECK_EQ(accumulate(parameter_block_sizes.begin(), | |
| parameter_block_sizes.end(), 0), | |
| N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9); | |
| } | |
| bool operator()(const double* x0, double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_EQ(N1, 0); | |
| CHECK_EQ(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| return cost_functor_(&x0, residuals); | |
| } | |
| bool operator()(const double* x0, | |
| const double* x1, | |
| double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_EQ(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(2); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| return cost_functor_(parameter_blocks.get(), residuals); | |
| } | |
| bool operator()(const double* x0, | |
| const double* x1, | |
| const double* x2, | |
| double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(3); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| return cost_functor_(parameter_blocks.get(), residuals); | |
| } | |
| bool operator()(const double* x0, | |
| const double* x1, | |
| const double* x2, | |
| const double* x3, | |
| double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(4); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| return cost_functor_(parameter_blocks.get(), residuals); | |
| } | |
| bool operator()(const double* x0, | |
| const double* x1, | |
| const double* x2, | |
| const double* x3, | |
| const double* x4, | |
| double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(5); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| return cost_functor_(parameter_blocks.get(), residuals); | |
| } | |
| bool operator()(const double* x0, | |
| const double* x1, | |
| const double* x2, | |
| const double* x3, | |
| const double* x4, | |
| const double* x5, | |
| double* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(6); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| parameter_blocks[5] = x5; | |
| return cost_functor_(parameter_blocks.get(), 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 { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(7); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| parameter_blocks[5] = x5; | |
| parameter_blocks[6] = x6; | |
| return cost_functor_(parameter_blocks.get(), 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 { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(8); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| parameter_blocks[5] = x5; | |
| parameter_blocks[6] = x6; | |
| parameter_blocks[7] = x7; | |
| return cost_functor_(parameter_blocks.get(), 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 { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_NE(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(9); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| parameter_blocks[5] = x5; | |
| parameter_blocks[6] = x6; | |
| parameter_blocks[7] = x7; | |
| parameter_blocks[8] = x8; | |
| return cost_functor_(parameter_blocks.get(), 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 { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_NE(N8, 0); | |
| CHECK_NE(N9, 0); | |
| internal::FixedArray<const double*> parameter_blocks(10); | |
| parameter_blocks[0] = x0; | |
| parameter_blocks[1] = x1; | |
| parameter_blocks[2] = x2; | |
| parameter_blocks[3] = x3; | |
| parameter_blocks[4] = x4; | |
| parameter_blocks[5] = x5; | |
| parameter_blocks[6] = x6; | |
| parameter_blocks[7] = x7; | |
| parameter_blocks[8] = x8; | |
| parameter_blocks[9] = x9; | |
| return cost_functor_(parameter_blocks.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_EQ(N1, 0); | |
| CHECK_EQ(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| return cost_functor_(&x0, residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_EQ(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(2); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_EQ(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(3); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_EQ(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(4); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_EQ(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(5); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| const JetT* x5, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_EQ(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(6); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| jets[5] = x5; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| const JetT* x5, | |
| const JetT* x6, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_EQ(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(7); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| jets[5] = x5; | |
| jets[6] = x6; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| const JetT* x5, | |
| const JetT* x6, | |
| const JetT* x7, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_EQ(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(8); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| jets[5] = x5; | |
| jets[6] = x6; | |
| jets[7] = x7; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| const JetT* x5, | |
| const JetT* x6, | |
| const JetT* x7, | |
| const JetT* x8, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_NE(N8, 0); | |
| CHECK_EQ(N9, 0); | |
| internal::FixedArray<const JetT*> jets(9); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| jets[5] = x5; | |
| jets[6] = x6; | |
| jets[7] = x7; | |
| jets[8] = x8; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| template <typename JetT> | |
| bool operator()(const JetT* x0, | |
| const JetT* x1, | |
| const JetT* x2, | |
| const JetT* x3, | |
| const JetT* x4, | |
| const JetT* x5, | |
| const JetT* x6, | |
| const JetT* x7, | |
| const JetT* x8, | |
| const JetT* x9, | |
| JetT* residuals) const { | |
| CHECK_NE(N0, 0); | |
| CHECK_NE(N1, 0); | |
| CHECK_NE(N2, 0); | |
| CHECK_NE(N3, 0); | |
| CHECK_NE(N4, 0); | |
| CHECK_NE(N5, 0); | |
| CHECK_NE(N6, 0); | |
| CHECK_NE(N7, 0); | |
| CHECK_NE(N8, 0); | |
| CHECK_NE(N9, 0); | |
| internal::FixedArray<const JetT*> jets(10); | |
| jets[0] = x0; | |
| jets[1] = x1; | |
| jets[2] = x2; | |
| jets[3] = x3; | |
| jets[4] = x4; | |
| jets[5] = x5; | |
| jets[6] = x6; | |
| jets[7] = x7; | |
| jets[8] = x8; | |
| jets[9] = x9; | |
| return cost_functor_(jets.get(), residuals); | |
| } | |
| private: | |
| DynamicCostFunctionToFunctor cost_functor_; | |
| }; | |
| } // namespace ceres | |
| #endif // CERES_PUBLIC_COST_FUNCTION_TO_FUNCTOR_H_ |