Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/residual_block.h b/internal/ceres/residual_block.h
new file mode 100644
index 0000000..6964c6d
--- /dev/null
+++ b/internal/ceres/residual_block.h
@@ -0,0 +1,149 @@
+// 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)
+//
+// Purpose : Class and struct definitions for parameter and residual blocks.
+
+#ifndef CERES_INTERNAL_RESIDUAL_BLOCK_H_
+#define CERES_INTERNAL_RESIDUAL_BLOCK_H_
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "ceres/cost_function.h"
+#include "ceres/internal/port.h"
+#include "ceres/stringprintf.h"
+#include "ceres/types.h"
+
+namespace ceres {
+
+class LossFunction;
+
+namespace internal {
+
+class ParameterBlock;
+
+// A term in the least squares problem. The mathematical form of each term in
+// the overall least-squares cost function is:
+//
+// 1
+// --- loss_function( || cost_function(block1, block2, ...) ||^2 ),
+// 2
+//
+// Storing the cost function and the loss function separately permits optimizing
+// the problem with standard non-linear least techniques, without requiring a
+// more general non-linear solver.
+//
+// The residual block stores pointers to but does not own the cost functions,
+// loss functions, and parameter blocks.
+class ResidualBlock {
+ public:
+ // Construct the residual block with the given cost/loss functions. Loss may
+ // be null. The index is the index of the residual block in the Program's
+ // residual_blocks array.
+ ResidualBlock(const CostFunction* cost_function,
+ const LossFunction* loss_function,
+ const std::vector<ParameterBlock*>& parameter_blocks,
+ int index);
+
+ // Evaluates the residual term, storing the scalar cost in *cost, the residual
+ // components in *residuals, and the jacobians between the parameters and
+ // residuals in jacobians[i], in row-major order. If residuals is NULL, the
+ // residuals are not computed. If jacobians is NULL, no jacobians are
+ // computed. If jacobians[i] is NULL, then the jacobian for that parameter is
+ // not computed.
+ //
+ // Evaluate needs scratch space which must be supplied by the caller via
+ // scratch. The array should have at least NumScratchDoublesForEvaluate()
+ // space available.
+ //
+ // The return value indicates the success or failure. If the function returns
+ // false, the caller should expect the output memory locations to have
+ // been modified.
+ //
+ // The returned cost and jacobians have had robustification and local
+ // parameterizations applied already; for example, the jacobian for a
+ // 4-dimensional quaternion parameter using the "QuaternionParameterization"
+ // is num_residuals by 3 instead of num_residuals by 4.
+ //
+ // apply_loss_function as the name implies allows the user to switch
+ // the application of the loss function on and off.
+ bool Evaluate(bool apply_loss_function,
+ double* cost,
+ double* residuals,
+ double** jacobians,
+ double* scratch) const;
+
+
+ const CostFunction* cost_function() const { return cost_function_; }
+ const LossFunction* loss_function() const { return loss_function_; }
+
+ // Access the parameter blocks for this residual. The array has size
+ // NumParameterBlocks().
+ ParameterBlock* const* parameter_blocks() const {
+ return parameter_blocks_.get();
+ }
+
+ // Number of variable blocks that this residual term depends on.
+ int NumParameterBlocks() const {
+ return cost_function_->parameter_block_sizes().size();
+ }
+
+ // The size of the residual vector returned by this residual function.
+ int NumResiduals() const { return cost_function_->num_residuals(); }
+
+ // The minimum amount of scratch space needed to pass to Evaluate().
+ int NumScratchDoublesForEvaluate() const;
+
+ // This residual block's index in an array.
+ int index() const { return index_; }
+ void set_index(int index) { index_ = index; }
+
+ std::string ToString() const {
+ return StringPrintf("{residual block; index=%d}", index_);
+ }
+
+ private:
+ const CostFunction* cost_function_;
+ const LossFunction* loss_function_;
+ std::unique_ptr<ParameterBlock*[]> parameter_blocks_;
+
+ // The index of the residual, typically in a Program. This is only to permit
+ // switching from a ResidualBlock* to an index in the Program's array, needed
+ // to do efficient removals.
+ int32_t index_;
+};
+
+} // namespace internal
+} // namespace ceres
+
+#endif // CERES_INTERNAL_RESIDUAL_BLOCK_H_