| // 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) | |
| // mierle@gmail.com (Keir Mierle) | |
| // jodebo_beck@gmx.de (Johannes Beck) | |
| namespace ceres { | |
| namespace internal { | |
| // For fixed size cost functors | |
| template <typename Functor, typename T, int... Indices> | |
| inline bool VariadicEvaluateImpl(const Functor& functor, | |
| T const* const* input, | |
| T* output, | |
| std::false_type /*is_dynamic*/, | |
| std::integer_sequence<int, Indices...>) { | |
| static_assert(sizeof...(Indices), | |
| "Invalid number of parameter blocks. At least one parameter " | |
| "block must be specified."); | |
| return functor(input[Indices]..., output); | |
| } | |
| // For dynamic sized cost functors | |
| template <typename Functor, typename T> | |
| inline bool VariadicEvaluateImpl(const Functor& functor, | |
| T const* const* input, | |
| T* output, | |
| std::true_type /*is_dynamic*/, | |
| std::integer_sequence<int>) { | |
| return functor(input, output); | |
| } | |
| // For ceres cost functors (not ceres::CostFunction) | |
| template <typename ParameterDims, typename Functor, typename T> | |
| inline bool VariadicEvaluateImpl(const Functor& functor, | |
| T const* const* input, | |
| T* output, | |
| const void* /* NOT USED */) { | |
| using ParameterBlockIndices = | |
| std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>; | |
| using IsDynamic = std::integral_constant<bool, ParameterDims::kIsDynamic>; | |
| return VariadicEvaluateImpl( | |
| functor, input, output, IsDynamic(), ParameterBlockIndices()); | |
| } | |
| // For ceres::CostFunction | |
| template <typename ParameterDims, typename Functor, typename T> | |
| inline bool VariadicEvaluateImpl(const Functor& functor, | |
| T const* const* input, | |
| T* output, | |
| const CostFunction* /* NOT USED */) { | |
| return functor.Evaluate(input, output, nullptr); | |
| } | |
| // Variadic evaluate is a helper function to evaluate ceres cost function or | |
| // functors using an input, output and the parameter dimensions. There are | |
| // several ways different possibilities: | |
| // 1) If the passed functor is a 'ceres::CostFunction' its evaluate method is | |
| // called. | |
| // 2) If the functor is not a 'ceres::CostFunction' and the specified parameter | |
| // dims is dynamic, the functor must have the following signature | |
| // 'bool(T const* const* input, T* output)'. | |
| // 3) If the functor is not a 'ceres::CostFunction' and the specified parameter | |
| // dims is not dynamic, the input is expanded by using the number of parameter | |
| // blocks. The signature of the functor must have the following signature | |
| // 'bool()(const T* i_1, const T* i_2, ... const T* i_n, T* output)'. | |
| template <typename ParameterDims, typename Functor, typename T> | |
| inline bool VariadicEvaluate(const Functor& functor, | |
| T const* const* input, | |
| T* output) { | |
| return VariadicEvaluateImpl<ParameterDims>(functor, input, output, &functor); | |
| } | |
| } // namespace internal | |
| } // namespace ceres | |