| // Ceres Solver - A fast non-linear least squares minimizer | |
| // Copyright 2019 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: darius.rueckert@fau.de (Darius Rueckert) | |
| // | |
| // This file defines the required macros to use local variables and if-else | |
| // branches in the AutoDiffCodeGen system. This is also the only file that | |
| // should be included by a user-defined cost functor. | |
| // | |
| // To generate code for your cost functor the following steps have to be | |
| // implemented (see below for a full example): | |
| // | |
| // 1. Include this file | |
| // 2. Wrap accesses to local variables in the CERES_LOCAL_VARIABLE macro. | |
| // 3. Replace if, else by CERES_IF, CERES_ELSE and add CERES_ENDIF | |
| // 4. Add a default constructor | |
| // | |
| // Example - my_cost_functor.h | |
| // ======================================================== | |
| // #include "ceres/rotation.h" | |
| // #include "ceres/autodiff_codegen_macros.h" | |
| // | |
| // struct MyReprojectionError { | |
| // MyReprojectionError(double observed_x, double observed_y) | |
| // : observed_x(observed_x), observed_y(observed_y) {} | |
| // | |
| // // The cost functor must be default constructible! | |
| // MyReprojectionError() = default; | |
| // | |
| // template <typename T> | |
| // bool operator()(const T* const camera, | |
| // const T* const point, | |
| // T* residuals) const { | |
| // T p[3]; | |
| // AngleAxisRotatePoint(camera, point, p); | |
| // p[0] += camera[3]; | |
| // p[1] += camera[4]; | |
| // p[2] += camera[5]; | |
| // | |
| // // The if block is written using the macros! | |
| // CERES_IF(p[2] < T(0)) { | |
| // p[0] = -p[0]; | |
| // p[1] = -p[1]; | |
| // p[2] = -p[2]; | |
| // } CERES_ELSE { | |
| // p[0] += T(1.0); | |
| // }CERES_ENDIF; | |
| // | |
| // const T& focal = camera[6]; | |
| // const T predicted_x = focal * p[0]; | |
| // const T predicted_y = focal * p[1]; | |
| // | |
| // // The read-access to the local variables observed_x and observed_y are | |
| // // wrapped in the CERES_LOCAL_VARIABLE macro! | |
| // residuals[0] = predicted_x - CERES_LOCAL_VARIABLE(T, observed_x); | |
| // residuals[1] = predicted_y - CERES_LOCAL_VARIABLE(T, observed_y); | |
| // return true; | |
| // } | |
| // double observed_x; | |
| // double observed_y; | |
| // }; | |
| // | |
| // ======================================================== | |
| // | |
| // This file defines the following macros: | |
| // | |
| // CERES_LOCAL_VARIABLE | |
| // CERES_IF | |
| // CERES_ELSE | |
| // CERES_ENDIF | |
| // | |
| #ifndef CERES_PUBLIC_CODEGEN_MACROS_H_ | |
| #define CERES_PUBLIC_CODEGEN_MACROS_H_ | |
| // The CERES_CODEGEN macro is defined by the build system only during code | |
| // generation. | |
| #ifndef CERES_CODEGEN | |
| #define CERES_LOCAL_VARIABLE(type, local_variable) type(local_variable) | |
| #define CERES_IF(condition_) if (condition_) | |
| #define CERES_ELSE else | |
| #define CERES_ENDIF | |
| #define CERES_COMMENT(comment_) | |
| #else | |
| #define CERES_LOCAL_VARIABLE(_template_type, _local_variable) \ | |
| ceres::internal::InputAssignment<_template_type>::Get(_local_variable, \ | |
| #_local_variable) | |
| #define CERES_IF(condition_) \ | |
| AddExpressionToGraph(ceres::internal::Expression::CreateIf((condition_).id)); | |
| #define CERES_ELSE \ | |
| AddExpressionToGraph(ceres::internal::Expression::CreateElse()); | |
| #define CERES_ENDIF \ | |
| AddExpressionToGraph(ceres::internal::Expression::CreateEndIf()); | |
| #define CERES_COMMENT(comment_) \ | |
| AddExpressionToGraph(ceres::internal::Expression::CreateComment(comment_)) | |
| #endif | |
| namespace ceres { | |
| // A function equivalent to the ternary ?-operator. | |
| // This function is required, because in the context of code generation a | |
| // comparison returns an expression type which is not convertible to bool. | |
| inline double Ternary(bool c, double a, double b) { return c ? a : b; } | |
| } // namespace ceres | |
| #endif // CERES_PUBLIC_CODEGEN_MACROS_H_ |