LMFunctor.hpp

// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.
 
#pragma once
 
#include "aliceVision/numeric/numeric.hpp"
// Levenberg Marquardt Non Linear Optimization
#include <unsupported/Eigen/NonLinearOptimization>
#include <unsupported/Eigen/NumericalDiff>
 
namespace aliceVision {
using namespace Eigen;
// Generic functor Levenberg-Marquardt minimization
template<typename _Scalar, int NX = Dynamic, int NY = Dynamic>
struct LMFunctor
{
    typedef _Scalar Scalar;
    enum
    {
        InputsAtCompileTime = NX,
        ValuesAtCompileTime = NY
    };
    typedef Matrix<Scalar, InputsAtCompileTime, 1> InputType;
    typedef Matrix<Scalar, ValuesAtCompileTime, 1> ValueType;
    typedef Matrix<Scalar, ValuesAtCompileTime, InputsAtCompileTime> JacobianType;
 
    const int m_inputs, m_values;
 
    LMFunctor()
      : m_inputs(InputsAtCompileTime),
        m_values(ValuesAtCompileTime)
    {}
    LMFunctor(int inputs, int values)
      : m_inputs(inputs),
        m_values(values)
    {}
 
    int inputs() const { return m_inputs; }
    int values() const { return m_values; }
 
    // you should define that in the subclass :
    //  void operator() (const InputType& x, ValueType* v, JacobianType* _j=0) const;
};
 
};  // namespace aliceVision