195 lines
7.0 KiB
C
195 lines
7.0 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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// mierle@gmail.com (Keir Mierle)
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#ifndef CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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#define CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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#include <stddef.h>
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#include "ceres/jet.h"
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#include "ceres/types.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/fixed_array.h"
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#include "glog/logging.h"
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namespace ceres {
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namespace internal {
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// This block of quasi-repeated code calls the user-supplied functor, which may
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// take a variable number of arguments. This is accomplished by specializing the
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// struct based on the size of the trailing parameters; parameters with 0 size
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// are assumed missing.
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
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int N5, int N6, int N7, int N8, int N9>
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struct VariadicEvaluate {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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input[5],
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input[6],
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input[7],
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input[8],
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input[9],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
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int N5, int N6, int N7, int N8>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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input[5],
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input[6],
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input[7],
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input[8],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
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int N5, int N6, int N7>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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input[5],
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input[6],
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input[7],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
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int N5, int N6>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, N6, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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input[5],
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input[6],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4,
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int N5>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, N5, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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input[5],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3, int N4>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, N4, 0, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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input[4],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2, int N3>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, N3, 0, 0, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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input[3],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1, int N2>
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struct VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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input[2],
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output);
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}
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};
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template<typename Functor, typename T, int N0, int N1>
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struct VariadicEvaluate<Functor, T, N0, N1, 0, 0, 0, 0, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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input[1],
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output);
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}
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};
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template<typename Functor, typename T, int N0>
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struct VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input[0],
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output);
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}
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};
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// Template instantiation for dynamically-sized functors.
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template<typename Functor, typename T>
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struct VariadicEvaluate<Functor, T, ceres::DYNAMIC, ceres::DYNAMIC,
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ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
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ceres::DYNAMIC, ceres::DYNAMIC, ceres::DYNAMIC,
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ceres::DYNAMIC, ceres::DYNAMIC> {
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static bool Call(const Functor& functor, T const *const *input, T* output) {
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return functor(input, output);
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}
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_PUBLIC_INTERNAL_VARIADIC_EVALUATE_H_
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