147 lines
5.8 KiB
C
147 lines
5.8 KiB
C
/* 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: mierle@gmail.com (Keir Mierle)
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*
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* A minimal C API for Ceres. Not all functionality is included. This API is
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* not intended for clients of Ceres, but is instead intended for easing the
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* process of binding Ceres to other languages.
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*
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* Currently this is a work in progress.
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*/
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#ifndef CERES_PUBLIC_C_API_H_
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#define CERES_PUBLIC_C_API_H_
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#include "ceres/internal/port.h"
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#include "ceres/internal/disable_warnings.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Init the Ceres private data. Must be called before anything else. */
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CERES_EXPORT void ceres_init();
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/* Equivalent to CostFunction::Evaluate() in the C++ API.
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*
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* The user may keep private information inside the opaque user_data object.
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* The pointer here is the same one passed in the ceres_add_residual_block().
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*/
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typedef int (*ceres_cost_function_t)(void* user_data,
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double** parameters,
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double* residuals,
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double** jacobians);
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/* Equivalent to LossFunction::Evaluate() from the C++ API. */
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typedef void (*ceres_loss_function_t)(void* user_data,
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double squared_norm,
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double out[3]);
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/* Create callback data for Ceres' stock loss functions.
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*
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* Ceres has several loss functions available by default, and these functions
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* expose those to the C API. To use the stock loss functions, call
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* ceres_create_*_loss_data(), which internally creates an instance of one of
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* the stock loss functions (for example ceres::CauchyLoss), and pass the
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* returned "loss_function_data" along with the ceres_stock_loss_function to
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* ceres_add_residual_block().
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*
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* For example:
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*
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* void* cauchy_loss_function_data =
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* ceres_create_cauchy_loss_function_data(1.2, 0.0);
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* ceres_problem_add_residual_block(
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* problem,
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* my_cost_function,
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* my_cost_function_data,
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* ceres_stock_loss_function,
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* cauchy_loss_function_data,
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* 1,
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* 2,
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* parameter_sizes,
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* parameter_pointers);
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* ...
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* ceres_free_stock_loss_function_data(cauchy_loss_function_data);
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*
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* See loss_function.h for the details of each loss function.
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*/
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CERES_EXPORT void* ceres_create_huber_loss_function_data(double a);
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CERES_EXPORT void* ceres_create_softl1_loss_function_data(double a);
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CERES_EXPORT void* ceres_create_cauchy_loss_function_data(double a);
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CERES_EXPORT void* ceres_create_arctan_loss_function_data(double a);
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CERES_EXPORT void* ceres_create_tolerant_loss_function_data(double a, double b);
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/* Free the given stock loss function data. */
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CERES_EXPORT void ceres_free_stock_loss_function_data(void* loss_function_data);
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/* This is an implementation of ceres_loss_function_t contained within Ceres
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* itself, intended as a way to access the various stock Ceres loss functions
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* from the C API. This should be passed to ceres_add_residual() below, in
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* combination with a user_data pointer generated by
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* ceres_create_stock_loss_function() above. */
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CERES_EXPORT void ceres_stock_loss_function(void* user_data,
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double squared_norm,
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double out[3]);
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/* Equivalent to Problem from the C++ API. */
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struct ceres_problem_s;
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typedef struct ceres_problem_s ceres_problem_t;
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struct ceres_residual_block_id_s;
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typedef struct ceres_residual_block_id_s ceres_residual_block_id_t;
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/* Create and destroy a problem */
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/* TODO(keir): Add options for the problem. */
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CERES_EXPORT ceres_problem_t* ceres_create_problem();
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CERES_EXPORT void ceres_free_problem(ceres_problem_t* problem);
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/* Add a residual block. */
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CERES_EXPORT ceres_residual_block_id_t* ceres_problem_add_residual_block(
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ceres_problem_t* problem,
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ceres_cost_function_t cost_function,
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void* cost_function_data,
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ceres_loss_function_t loss_function,
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void* loss_function_data,
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int num_residuals,
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int num_parameter_blocks,
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int* parameter_block_sizes,
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double** parameters);
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CERES_EXPORT void ceres_solve(ceres_problem_t* problem);
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/* TODO(keir): Figure out a way to pass a config in. */
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#ifdef __cplusplus
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}
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#endif
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#include "ceres/internal/reenable_warnings.h"
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#endif /* CERES_PUBLIC_C_API_H_ */
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