| 123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126 | // 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#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());#endifnamespace 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_
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