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107 lines
4.5 KiB
107 lines
4.5 KiB
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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: jodebo_beck@gmx.de (Johannes Beck)
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#ifndef CERES_PUBLIC_INTERNAL_PARAMETER_DIMS_H_
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#define CERES_PUBLIC_INTERNAL_PARAMETER_DIMS_H_
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#include <array>
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#include <utility>
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#include "ceres/internal/integer_sequence_algorithm.h"
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namespace ceres::internal {
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// Helper class that represents the parameter dimensions. The parameter
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// dimensions are either dynamic or the sizes are known at compile time. It is
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// used to pass parameter block dimensions around (e.g. between functions or
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// classes).
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//
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// As an example if one have three parameter blocks with dimensions (2, 4, 1),
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// one would use 'StaticParameterDims<2, 4, 1>' which is a synonym for
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// 'ParameterDims<false, 2, 4, 1>'.
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// For dynamic parameter dims, one would just use 'DynamicParameterDims', which
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// is a synonym for 'ParameterDims<true>'.
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template <bool IsDynamic, int... Ns>
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class ParameterDims {
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public:
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using Parameters = std::integer_sequence<int, Ns...>;
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// The parameter dimensions are only valid if all parameter block dimensions
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// are greater than zero.
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static constexpr bool kIsValid = ((Ns > 0) && ...);
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static_assert(kIsValid,
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"Invalid parameter block dimension detected. Each parameter "
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"block dimension must be bigger than zero.");
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static constexpr bool kIsDynamic = IsDynamic;
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static constexpr int kNumParameterBlocks = sizeof...(Ns);
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static_assert(kIsDynamic || kNumParameterBlocks > 0,
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"At least one parameter block must be specified.");
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static constexpr int kNumParameters = (Ns + ... + 0);
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static constexpr int GetDim(int dim) { return params_[dim]; }
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// If one has all parameters packed into a single array this function unpacks
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// the parameters.
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template <typename T>
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static inline std::array<T*, kNumParameterBlocks> GetUnpackedParameters(
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T* ptr) {
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using Offsets = ExclusiveScan<Parameters>;
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return GetUnpackedParameters(ptr, Offsets());
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}
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private:
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template <typename T, int... Indices>
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static inline std::array<T*, kNumParameterBlocks> GetUnpackedParameters(
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T* ptr, std::integer_sequence<int, Indices...>) {
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return std::array<T*, kNumParameterBlocks>{{ptr + Indices...}};
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}
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static constexpr std::array<int, kNumParameterBlocks> params_{Ns...};
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};
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// Even static constexpr member variables needs to be defined (not only
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// declared). As the ParameterDims class is tempalted this definition must
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// be in the header file.
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template <bool IsDynamic, int... Ns>
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constexpr std::array<int, ParameterDims<IsDynamic, Ns...>::kNumParameterBlocks>
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ParameterDims<IsDynamic, Ns...>::params_;
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// Using declarations for static and dynamic parameter dims. This makes client
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// code easier to read.
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template <int... Ns>
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using StaticParameterDims = ParameterDims<false, Ns...>;
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using DynamicParameterDims = ParameterDims<true>;
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} // namespace ceres::internal
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#endif // CERES_PUBLIC_INTERNAL_PARAMETER_DIMS_H_
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