| // 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(_template_type, _local_variable) (_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_ |
