1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: keir (at) google.com (Keir Mierle) 30 // 31 // A convenience class for cost functions which are statically sized. 32 // Compared to the dynamically-sized base class, this reduces boilerplate. 33 // 34 // The kNumResiduals template parameter can be a constant such as 2 or 5, or it 35 // can be ceres::DYNAMIC. If kNumResiduals is ceres::DYNAMIC, then subclasses 36 // are responsible for calling set_num_residuals() at runtime. 37 38 #ifndef CERES_PUBLIC_SIZED_COST_FUNCTION_H_ 39 #define CERES_PUBLIC_SIZED_COST_FUNCTION_H_ 40 41 #include "ceres/types.h" 42 #include "ceres/cost_function.h" 43 #include "glog/logging.h" 44 45 namespace ceres { 46 47 template<int kNumResiduals, 48 int N0 = 0, int N1 = 0, int N2 = 0, int N3 = 0, int N4 = 0, 49 int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0> 50 class SizedCostFunction : public CostFunction { 51 public: 52 SizedCostFunction() { 53 CHECK(kNumResiduals > 0 || kNumResiduals == DYNAMIC) 54 << "Cost functions must have at least one residual block."; 55 56 // This block breaks the 80 column rule to keep it somewhat readable. 57 CHECK((!N1 && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || 58 ((N1 > 0) && !N2 && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || 59 ((N1 > 0) && (N2 > 0) && !N3 && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || 60 ((N1 > 0) && (N2 > 0) && (N3 > 0) && !N4 && !N5 && !N6 && !N7 && !N8 && !N9) || 61 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && !N5 && !N6 && !N7 && !N8 && !N9) || 62 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && !N6 && !N7 && !N8 && !N9) || 63 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && !N7 && !N8 && !N9) || 64 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && !N8 && !N9) || 65 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && !N9) || 66 ((N1 > 0) && (N2 > 0) && (N3 > 0) && (N4 > 0) && (N5 > 0) && (N6 > 0) && (N7 > 0) && (N8 > 0) && (N9 > 0))) 67 << "Zero block cannot precede a non-zero block. Block sizes are " 68 << "(ignore trailing 0s): " << N0 << ", " << N1 << ", " << N2 << ", " 69 << N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", " 70 << N8 << ", " << N9; 71 72 set_num_residuals(kNumResiduals); 73 74 #define ADD_PARAMETER_BLOCK(N) \ 75 if (N) mutable_parameter_block_sizes()->push_back(N); 76 ADD_PARAMETER_BLOCK(N0); 77 ADD_PARAMETER_BLOCK(N1); 78 ADD_PARAMETER_BLOCK(N2); 79 ADD_PARAMETER_BLOCK(N3); 80 ADD_PARAMETER_BLOCK(N4); 81 ADD_PARAMETER_BLOCK(N5); 82 ADD_PARAMETER_BLOCK(N6); 83 ADD_PARAMETER_BLOCK(N7); 84 ADD_PARAMETER_BLOCK(N8); 85 ADD_PARAMETER_BLOCK(N9); 86 #undef ADD_PARAMETER_BLOCK 87 } 88 89 virtual ~SizedCostFunction() { } 90 91 // Subclasses must implement Evaluate(). 92 }; 93 94 } // namespace ceres 95 96 #endif // CERES_PUBLIC_SIZED_COST_FUNCTION_H_ 97
