MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/problem.cc
2019-01-03 16:25:18 +08:00

274 lines
9.8 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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: sameeragarwal@google.com (Sameer Agarwal)
// keir@google.com (Keir Mierle)
#include "ceres/problem.h"
#include <vector>
#include "ceres/crs_matrix.h"
#include "ceres/problem_impl.h"
namespace ceres {
using std::vector;
Problem::Problem() : problem_impl_(new internal::ProblemImpl) {}
Problem::Problem(const Problem::Options& options)
: problem_impl_(new internal::ProblemImpl(options)) {}
Problem::~Problem() {}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
const vector<double*>& parameter_blocks) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
parameter_blocks);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6, double* x7) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8, double* x9) {
return problem_impl_->AddResidualBlock(
cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
}
void Problem::AddParameterBlock(double* values, int size) {
problem_impl_->AddParameterBlock(values, size);
}
void Problem::AddParameterBlock(double* values,
int size,
LocalParameterization* local_parameterization) {
problem_impl_->AddParameterBlock(values, size, local_parameterization);
}
void Problem::RemoveResidualBlock(ResidualBlockId residual_block) {
problem_impl_->RemoveResidualBlock(residual_block);
}
void Problem::RemoveParameterBlock(double* values) {
problem_impl_->RemoveParameterBlock(values);
}
void Problem::SetParameterBlockConstant(double* values) {
problem_impl_->SetParameterBlockConstant(values);
}
void Problem::SetParameterBlockVariable(double* values) {
problem_impl_->SetParameterBlockVariable(values);
}
void Problem::SetParameterization(
double* values,
LocalParameterization* local_parameterization) {
problem_impl_->SetParameterization(values, local_parameterization);
}
const LocalParameterization* Problem::GetParameterization(
double* values) const {
return problem_impl_->GetParameterization(values);
}
void Problem::SetParameterLowerBound(double* values,
int index,
double lower_bound) {
problem_impl_->SetParameterLowerBound(values, index, lower_bound);
}
void Problem::SetParameterUpperBound(double* values,
int index,
double upper_bound) {
problem_impl_->SetParameterUpperBound(values, index, upper_bound);
}
bool Problem::Evaluate(const EvaluateOptions& evaluate_options,
double* cost,
vector<double>* residuals,
vector<double>* gradient,
CRSMatrix* jacobian) {
return problem_impl_->Evaluate(evaluate_options,
cost,
residuals,
gradient,
jacobian);
}
int Problem::NumParameterBlocks() const {
return problem_impl_->NumParameterBlocks();
}
int Problem::NumParameters() const {
return problem_impl_->NumParameters();
}
int Problem::NumResidualBlocks() const {
return problem_impl_->NumResidualBlocks();
}
int Problem::NumResiduals() const {
return problem_impl_->NumResiduals();
}
int Problem::ParameterBlockSize(const double* parameter_block) const {
return problem_impl_->ParameterBlockSize(parameter_block);
}
int Problem::ParameterBlockLocalSize(const double* parameter_block) const {
return problem_impl_->ParameterBlockLocalSize(parameter_block);
}
bool Problem::HasParameterBlock(const double* values) const {
return problem_impl_->HasParameterBlock(values);
}
void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const {
problem_impl_->GetParameterBlocks(parameter_blocks);
}
void Problem::GetResidualBlocks(
vector<ResidualBlockId>* residual_blocks) const {
problem_impl_->GetResidualBlocks(residual_blocks);
}
void Problem::GetParameterBlocksForResidualBlock(
const ResidualBlockId residual_block,
vector<double*>* parameter_blocks) const {
problem_impl_->GetParameterBlocksForResidualBlock(residual_block,
parameter_blocks);
}
const CostFunction* Problem::GetCostFunctionForResidualBlock(
const ResidualBlockId residual_block) const {
return problem_impl_->GetCostFunctionForResidualBlock(residual_block);
}
const LossFunction* Problem::GetLossFunctionForResidualBlock(
const ResidualBlockId residual_block) const {
return problem_impl_->GetLossFunctionForResidualBlock(residual_block);
}
void Problem::GetResidualBlocksForParameterBlock(
const double* values,
vector<ResidualBlockId>* residual_blocks) const {
problem_impl_->GetResidualBlocksForParameterBlock(values,
residual_blocks);
}
} // namespace ceres