diff options
Diffstat (limited to 'extern/ceres/include/ceres/problem.h')
| -rw-r--r-- | extern/ceres/include/ceres/problem.h | 48 |
1 files changed, 34 insertions, 14 deletions
diff --git a/extern/ceres/include/ceres/problem.h b/extern/ceres/include/ceres/problem.h index 88f99663f65..add12ea401d 100644 --- a/extern/ceres/include/ceres/problem.h +++ b/extern/ceres/include/ceres/problem.h @@ -453,13 +453,15 @@ class CERES_EXPORT Problem { // problem.AddResidualBlock(new MyCostFunction, nullptr, &x); // // double cost = 0.0; - // problem.Evaluate(Problem::EvaluateOptions(), &cost, nullptr, nullptr, nullptr); + // problem.Evaluate(Problem::EvaluateOptions(), &cost, + // nullptr, nullptr, nullptr); // // The cost is evaluated at x = 1. If you wish to evaluate the // problem at x = 2, then // // x = 2; - // problem.Evaluate(Problem::EvaluateOptions(), &cost, nullptr, nullptr, nullptr); + // problem.Evaluate(Problem::EvaluateOptions(), &cost, + // nullptr, nullptr, nullptr); // // is the way to do so. // @@ -475,7 +477,7 @@ class CERES_EXPORT Problem { // at the end of an iteration during a solve. // // Note 4: If an EvaluationCallback is associated with the problem, - // then its PrepareForEvaluation method will be called everytime + // then its PrepareForEvaluation method will be called every time // this method is called with new_point = true. bool Evaluate(const EvaluateOptions& options, double* cost, @@ -509,23 +511,41 @@ class CERES_EXPORT Problem { // apply_loss_function as the name implies allows the user to switch // the application of the loss function on and off. // - // WARNING: If an EvaluationCallback is associated with the problem - // then it is the user's responsibility to call it before calling - // this method. - // - // This is because, if the user calls this method multiple times, we - // cannot tell if the underlying parameter blocks have changed - // between calls or not. So if EvaluateResidualBlock was responsible - // for calling the EvaluationCallback, it will have to do it - // everytime it is called. Which makes the common case where the - // parameter blocks do not change, inefficient. So we leave it to - // the user to call the EvaluationCallback as needed. + // If an EvaluationCallback is associated with the problem, then its + // PrepareForEvaluation method will be called every time this method + // is called with new_point = true. This conservatively assumes that + // the user may have changed the parameter values since the previous + // call to evaluate / solve. For improved efficiency, and only if + // you know that the parameter values have not changed between + // calls, see EvaluateResidualBlockAssumingParametersUnchanged(). bool EvaluateResidualBlock(ResidualBlockId residual_block_id, bool apply_loss_function, double* cost, double* residuals, double** jacobians) const; + // Same as EvaluateResidualBlock except that if an + // EvaluationCallback is associated with the problem, then its + // PrepareForEvaluation method will be called every time this method + // is called with new_point = false. + // + // This means, if an EvaluationCallback is associated with the + // problem then it is the user's responsibility to call + // PrepareForEvaluation before calling this method if necessary, + // i.e. iff the parameter values have been changed since the last + // call to evaluate / solve.' + // + // This is because, as the name implies, we assume that the + // parameter blocks did not change since the last time + // PrepareForEvaluation was called (via Solve, Evaluate or + // EvaluateResidualBlock). + bool EvaluateResidualBlockAssumingParametersUnchanged( + ResidualBlockId residual_block_id, + bool apply_loss_function, + double* cost, + double* residuals, + double** jacobians) const; + private: friend class Solver; friend class Covariance; |