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feat(3rdparty): add eigen and ceres

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This commit is contained in:
John Zhao
2019-01-03 16:25:18 +08:00
parent c6fd9db827
commit 6773d8eb7a
747 changed files with 375754 additions and 1 deletions
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126
3rdparty/eigen3/Eigen/src/StlSupport/StdDeque.h vendored Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDDEQUE_H
#define EIGEN_STDDEQUE_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::deque such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef deque_base::allocator_type allocator_type; \
typedef deque_base::size_type size_type; \
typedef deque_base::iterator iterator; \
explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
template<typename InputIterator> \
deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
deque(const deque& c) : deque_base(c) {} \
explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
deque(iterator start, iterator end) : deque_base(start, end) {} \
deque& operator=(const deque& x) { \
deque_base::operator=(x); \
return *this; \
} \
}; \
}
// check whether we really need the std::deque specialization
#if !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
namespace std {
#define EIGEN_STD_DEQUE_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename deque_base::allocator_type allocator_type; \
typedef typename deque_base::size_type size_type; \
typedef typename deque_base::iterator iterator; \
typedef typename deque_base::const_iterator const_iterator; \
explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {} \
template<typename InputIterator> \
deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: deque_base(first, last, a) {} \
deque(const deque& c) : deque_base(c) {} \
explicit deque(size_type num, const value_type& val = value_type()) : deque_base(num, val) {} \
deque(iterator start, iterator end) : deque_base(start, end) {} \
deque& operator=(const deque& x) { \
deque_base::operator=(x); \
return *this; \
}
template<typename T>
class deque<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef deque<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > deque_base;
EIGEN_STD_DEQUE_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
#if defined(_DEQUE_)
// workaround MSVC std::deque implementation
void resize(size_type new_size, const value_type& x)
{
if (deque_base::size() < new_size)
deque_base::_Insert_n(deque_base::end(), new_size - deque_base::size(), x);
else if (new_size < deque_base::size())
deque_base::erase(deque_base::begin() + new_size, deque_base::end());
}
void push_back(const value_type& x)
{ deque_base::push_back(x); }
void push_front(const value_type& x)
{ deque_base::push_front(x); }
using deque_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return deque_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ deque_base::insert(position, new_size, x); }
#elif defined(_GLIBCXX_DEQUE) && EIGEN_GNUC_AT_LEAST(4,2)
// workaround GCC std::deque implementation
void resize(size_type new_size, const value_type& x)
{
if (new_size < deque_base::size())
deque_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
else
deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
}
#else
// either GCC 4.1 or non-GCC
// default implementation which should always work.
void resize(size_type new_size, const value_type& x)
{
if (new_size < deque_base::size())
deque_base::erase(deque_base::begin() + new_size, deque_base::end());
else if (new_size > deque_base::size())
deque_base::insert(deque_base::end(), new_size - deque_base::size(), x);
}
#endif
};
}
#endif // check whether specialization is actually required
#endif // EIGEN_STDDEQUE_H

106
3rdparty/eigen3/Eigen/src/StlSupport/StdList.h vendored Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDLIST_H
#define EIGEN_STDLIST_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::list such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class list<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef list_base::allocator_type allocator_type; \
typedef list_base::size_type size_type; \
typedef list_base::iterator iterator; \
explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
template<typename InputIterator> \
list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
list(const list& c) : list_base(c) {} \
explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
list(iterator start, iterator end) : list_base(start, end) {} \
list& operator=(const list& x) { \
list_base::operator=(x); \
return *this; \
} \
}; \
}
// check whether we really need the std::vector specialization
#if !(defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
namespace std
{
#define EIGEN_STD_LIST_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename list_base::allocator_type allocator_type; \
typedef typename list_base::size_type size_type; \
typedef typename list_base::iterator iterator; \
typedef typename list_base::const_iterator const_iterator; \
explicit list(const allocator_type& a = allocator_type()) : list_base(a) {} \
template<typename InputIterator> \
list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: list_base(first, last, a) {} \
list(const list& c) : list_base(c) {} \
explicit list(size_type num, const value_type& val = value_type()) : list_base(num, val) {} \
list(iterator start, iterator end) : list_base(start, end) {} \
list& operator=(const list& x) { \
list_base::operator=(x); \
return *this; \
}
template<typename T>
class list<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef list<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > list_base;
EIGEN_STD_LIST_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
void resize(size_type new_size, const value_type& x)
{
if (list_base::size() < new_size)
list_base::insert(list_base::end(), new_size - list_base::size(), x);
else
while (new_size < list_base::size()) list_base::pop_back();
}
#if defined(_LIST_)
// workaround MSVC std::list implementation
void push_back(const value_type& x)
{ list_base::push_back(x); }
using list_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return list_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ list_base::insert(position, new_size, x); }
#endif
};
}
#endif // check whether specialization is actually required
#endif // EIGEN_STDLIST_H

126
3rdparty/eigen3/Eigen/src/StlSupport/StdVector.h vendored Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STDVECTOR_H
#define EIGEN_STDVECTOR_H
#include "details.h"
/**
* This section contains a convenience MACRO which allows an easy specialization of
* std::vector such that for data types with alignment issues the correct allocator
* is used automatically.
*/
#define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...) \
namespace std \
{ \
template<> \
class vector<__VA_ARGS__, std::allocator<__VA_ARGS__> > \
: public vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
{ \
typedef vector<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > vector_base; \
public: \
typedef __VA_ARGS__ value_type; \
typedef vector_base::allocator_type allocator_type; \
typedef vector_base::size_type size_type; \
typedef vector_base::iterator iterator; \
explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
template<typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
} \
}; \
}
namespace std {
#define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
public: \
typedef T value_type; \
typedef typename vector_base::allocator_type allocator_type; \
typedef typename vector_base::size_type size_type; \
typedef typename vector_base::iterator iterator; \
typedef typename vector_base::const_iterator const_iterator; \
explicit vector(const allocator_type& a = allocator_type()) : vector_base(a) {} \
template<typename InputIterator> \
vector(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) \
: vector_base(first, last, a) {} \
vector(const vector& c) : vector_base(c) {} \
explicit vector(size_type num, const value_type& val = value_type()) : vector_base(num, val) {} \
vector(iterator start, iterator end) : vector_base(start, end) {} \
vector& operator=(const vector& x) { \
vector_base::operator=(x); \
return *this; \
}
template<typename T>
class vector<T,EIGEN_ALIGNED_ALLOCATOR<T> >
: public vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> >
{
typedef vector<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T),
Eigen::aligned_allocator_indirection<EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T)> > vector_base;
EIGEN_STD_VECTOR_SPECIALIZATION_BODY
void resize(size_type new_size)
{ resize(new_size, T()); }
#if defined(_VECTOR_)
// workaround MSVC std::vector implementation
void resize(size_type new_size, const value_type& x)
{
if (vector_base::size() < new_size)
vector_base::_Insert_n(vector_base::end(), new_size - vector_base::size(), x);
else if (new_size < vector_base::size())
vector_base::erase(vector_base::begin() + new_size, vector_base::end());
}
void push_back(const value_type& x)
{ vector_base::push_back(x); }
using vector_base::insert;
iterator insert(const_iterator position, const value_type& x)
{ return vector_base::insert(position,x); }
void insert(const_iterator position, size_type new_size, const value_type& x)
{ vector_base::insert(position, new_size, x); }
#elif defined(_GLIBCXX_VECTOR) && (!(EIGEN_GNUC_AT_LEAST(4,1)))
/* Note that before gcc-4.1 we already have: std::vector::resize(size_type,const T&).
* However, this specialization is still needed to make the above EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION trick to work. */
void resize(size_type new_size, const value_type& x)
{
vector_base::resize(new_size,x);
}
#elif defined(_GLIBCXX_VECTOR) && EIGEN_GNUC_AT_LEAST(4,2)
// workaround GCC std::vector implementation
void resize(size_type new_size, const value_type& x)
{
if (new_size < vector_base::size())
vector_base::_M_erase_at_end(this->_M_impl._M_start + new_size);
else
vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
}
#else
// either GCC 4.1 or non-GCC
// default implementation which should always work.
void resize(size_type new_size, const value_type& x)
{
if (new_size < vector_base::size())
vector_base::erase(vector_base::begin() + new_size, vector_base::end());
else if (new_size > vector_base::size())
vector_base::insert(vector_base::end(), new_size - vector_base::size(), x);
}
#endif
};
}
#endif // EIGEN_STDVECTOR_H

84
3rdparty/eigen3/Eigen/src/StlSupport/details.h vendored Normal file
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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2009 Hauke Heibel <hauke.heibel@googlemail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
#ifndef EIGEN_STL_DETAILS_H
#define EIGEN_STL_DETAILS_H
#ifndef EIGEN_ALIGNED_ALLOCATOR
#define EIGEN_ALIGNED_ALLOCATOR Eigen::aligned_allocator
#endif
namespace Eigen {
// This one is needed to prevent reimplementing the whole std::vector.
template <class T>
class aligned_allocator_indirection : public EIGEN_ALIGNED_ALLOCATOR<T>
{
public:
typedef size_t size_type;
typedef ptrdiff_t difference_type;
typedef T* pointer;
typedef const T* const_pointer;
typedef T& reference;
typedef const T& const_reference;
typedef T value_type;
template<class U>
struct rebind
{
typedef aligned_allocator_indirection<U> other;
};
aligned_allocator_indirection() {}
aligned_allocator_indirection(const aligned_allocator_indirection& ) : EIGEN_ALIGNED_ALLOCATOR<T>() {}
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<T>& ) {}
template<class U>
aligned_allocator_indirection(const aligned_allocator_indirection<U>& ) {}
template<class U>
aligned_allocator_indirection(const EIGEN_ALIGNED_ALLOCATOR<U>& ) {}
~aligned_allocator_indirection() {}
};
#ifdef _MSC_VER
// sometimes, MSVC detects, at compile time, that the argument x
// in std::vector::resize(size_t s,T x) won't be aligned and generate an error
// even if this function is never called. Whence this little wrapper.
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) \
typename Eigen::internal::conditional< \
Eigen::internal::is_arithmetic<T>::value, \
T, \
Eigen::internal::workaround_msvc_stl_support<T> \
>::type
namespace internal {
template<typename T> struct workaround_msvc_stl_support : public T
{
inline workaround_msvc_stl_support() : T() {}
inline workaround_msvc_stl_support(const T& other) : T(other) {}
inline operator T& () { return *static_cast<T*>(this); }
inline operator const T& () const { return *static_cast<const T*>(this); }
template<typename OtherT>
inline T& operator=(const OtherT& other)
{ T::operator=(other); return *this; }
inline workaround_msvc_stl_support& operator=(const workaround_msvc_stl_support& other)
{ T::operator=(other); return *this; }
};
}
#else
#define EIGEN_WORKAROUND_MSVC_STL_SUPPORT(T) T
#endif
}
#endif // EIGEN_STL_DETAILS_H