diff options
Diffstat (limited to 'extern/ceres/internal/ceres/c_api.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/c_api.cc | 42 |
1 files changed, 21 insertions, 21 deletions
diff --git a/extern/ceres/internal/ceres/c_api.cc b/extern/ceres/internal/ceres/c_api.cc index 251cde42101..8ea344dd54a 100644 --- a/extern/ceres/internal/ceres/c_api.cc +++ b/extern/ceres/internal/ceres/c_api.cc @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2022 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -35,6 +35,7 @@ #include "ceres/c_api.h" #include <iostream> +#include <memory> #include <string> #include <vector> @@ -64,7 +65,7 @@ void ceres_free_problem(ceres_problem_t* problem) { // This cost function wraps a C-level function pointer from the user, to bridge // between C and C++. -class CallbackCostFunction : public ceres::CostFunction { +class CERES_NO_EXPORT CallbackCostFunction final : public ceres::CostFunction { public: CallbackCostFunction(ceres_cost_function_t cost_function, void* user_data, @@ -78,8 +79,6 @@ class CallbackCostFunction : public ceres::CostFunction { } } - virtual ~CallbackCostFunction() {} - bool Evaluate(double const* const* parameters, double* residuals, double** jacobians) const final { @@ -94,7 +93,7 @@ class CallbackCostFunction : public ceres::CostFunction { // This loss function wraps a C-level function pointer from the user, to bridge // between C and C++. -class CallbackLossFunction : public ceres::LossFunction { +class CallbackLossFunction final : public ceres::LossFunction { public: explicit CallbackLossFunction(ceres_loss_function_t loss_function, void* user_data) @@ -146,30 +145,31 @@ ceres_residual_block_id_t* ceres_problem_add_residual_block( int num_parameter_blocks, int* parameter_block_sizes, double** parameters) { - Problem* ceres_problem = reinterpret_cast<Problem*>(problem); - - ceres::CostFunction* callback_cost_function = - new CallbackCostFunction(cost_function, - cost_function_data, - num_residuals, - num_parameter_blocks, - parameter_block_sizes); - - ceres::LossFunction* callback_loss_function = NULL; - if (loss_function != NULL) { - callback_loss_function = - new CallbackLossFunction(loss_function, loss_function_data); + auto* ceres_problem = reinterpret_cast<Problem*>(problem); + + auto callback_cost_function = + std::make_unique<CallbackCostFunction>(cost_function, + cost_function_data, + num_residuals, + num_parameter_blocks, + parameter_block_sizes); + + std::unique_ptr<ceres::LossFunction> callback_loss_function; + if (loss_function != nullptr) { + callback_loss_function = std::make_unique<CallbackLossFunction>( + loss_function, loss_function_data); } std::vector<double*> parameter_blocks(parameters, parameters + num_parameter_blocks); return reinterpret_cast<ceres_residual_block_id_t*>( - ceres_problem->AddResidualBlock( - callback_cost_function, callback_loss_function, parameter_blocks)); + ceres_problem->AddResidualBlock(callback_cost_function.release(), + callback_loss_function.release(), + parameter_blocks)); } void ceres_solve(ceres_problem_t* c_problem) { - Problem* problem = reinterpret_cast<Problem*>(c_problem); + auto* problem = reinterpret_cast<Problem*>(c_problem); // TODO(keir): Obviously, this way of setting options won't scale or last. // Instead, figure out a way to specify some of the options without |