// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
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// modification, are permitted provided that the following conditions are met:
//
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
//
// A wrapper class that takes a variadic functor evaluating a
// function, numerically differentiates it and makes it available as a
// templated functor so that it can be easily used as part of Ceres'
// automatic differentiation framework.
//
// For example:
//
// For example, let us assume that
//
// struct IntrinsicProjection
// IntrinsicProjection(const double* observations);
// bool operator()(const double* calibration,
// const double* point,
// double* residuals);
// };
//
// is a functor that implements the projection of a point in its local
// coordinate system onto its image plane and subtracts it from the
// observed point projection.
//
// Now we would like to compose the action of this functor with the
// action of camera extrinsics, i.e., rotation and translation, which
// is given by the following templated function
//
// template<typename T>
// void RotateAndTranslatePoint(const T* rotation,
// const T* translation,
// const T* point,
// T* result);
//
// To compose the extrinsics and intrinsics, we can construct a
// CameraProjection functor as follows.
//
// struct CameraProjection {
// typedef NumericDiffFunctor<IntrinsicProjection, CENTRAL, 2, 5, 3>
// IntrinsicProjectionFunctor;
//
// CameraProjection(double* observation) {
// intrinsic_projection_.reset(
// new IntrinsicProjectionFunctor(observation)) {
// }
//
// template <typename T>
// bool operator()(const T* rotation,
// const T* translation,
// const T* intrinsics,
// const T* point,
// T* residuals) const {
// T transformed_point[3];
// RotateAndTranslatePoint(rotation, translation, point, transformed_point);
// return (*intrinsic_projection_)(intrinsics, transformed_point, residual);
// }
//
// private:
// scoped_ptr<IntrinsicProjectionFunctor> intrinsic_projection_;
// };
//
// Here, we made the choice of using CENTRAL differences to compute
// the jacobian of IntrinsicProjection.
//
// Now, we are ready to construct an automatically differentiated cost
// function as
//
// CostFunction* cost_function =
// new AutoDiffCostFunction<CameraProjection, 2, 3, 3, 5>(
// new CameraProjection(observations));
//
// cost_function now seamlessly integrates automatic differentiation
// of RotateAndTranslatePoint with a numerically differentiated
// version of IntrinsicProjection.
#ifndef CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_
#define CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_
#include "ceres/numeric_diff_cost_function.h"
#include "ceres/types.h"
#include "ceres/cost_function_to_functor.h"
namespace ceres {
template<typename Functor,
NumericDiffMethod kMethod = CENTRAL,
int kNumResiduals = 0,
int N0 = 0, int N1 = 0 , int N2 = 0, int N3 = 0, int N4 = 0,
int N5 = 0, int N6 = 0 , int N7 = 0, int N8 = 0, int N9 = 0>
class NumericDiffFunctor {
public:
// relative_step_size controls the step size used by the numeric
// differentiation process.
explicit NumericDiffFunctor(double relative_step_size = 1e-6)
: functor_(
new NumericDiffCostFunction<Functor,
kMethod,
kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>(new Functor,
relative_step_size)) {
}
NumericDiffFunctor(Functor* functor, double relative_step_size = 1e-6)
: functor_(new NumericDiffCostFunction<Functor,
kMethod,
kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9>(
functor, relative_step_size)) {
}
bool operator()(const double* x0, double* residuals) const {
return functor_(x0, residuals);
}
bool operator()(const double* x0,
const double* x1,
double* residuals) const {
return functor_(x0, x1, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
double* residuals) const {
return functor_(x0, x1, x2, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
double* residuals) const {
return functor_(x0, x1, x2, x3, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
const double* x8,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals);
}
bool operator()(const double* x0,
const double* x1,
const double* x2,
const double* x3,
const double* x4,
const double* x5,
const double* x6,
const double* x7,
const double* x8,
const double* x9,
double* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals);
}
template <typename T>
bool operator()(const T* x0, T* residuals) const {
return functor_(x0, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
T* residuals) const {
return functor_(x0, x1, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
T* residuals) const {
return functor_(x0, x1, x2, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
T* residuals) const {
return functor_(x0, x1, x2, x3, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
const T* x5,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
const T* x5,
const T* x6,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
const T* x5,
const T* x6,
const T* x7,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
const T* x5,
const T* x6,
const T* x7,
const T* x8,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, residuals);
}
template <typename T>
bool operator()(const T* x0,
const T* x1,
const T* x2,
const T* x3,
const T* x4,
const T* x5,
const T* x6,
const T* x7,
const T* x8,
const T* x9,
T* residuals) const {
return functor_(x0, x1, x2, x3, x4, x5, x6, x7, x8, x9, residuals);
}
private:
CostFunctionToFunctor<kNumResiduals,
N0, N1, N2, N3, N4,
N5, N6, N7, N8, N9> functor_;
};
} // namespace ceres
#endif // CERES_PUBLIC_NUMERIC_DIFF_FUNCTOR_H_