diff options
Diffstat (limited to 'extern/ceres/internal/ceres/gradient_checking_cost_function.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/gradient_checking_cost_function.cc | 34 |
1 files changed, 23 insertions, 11 deletions
diff --git a/extern/ceres/internal/ceres/gradient_checking_cost_function.cc b/extern/ceres/internal/ceres/gradient_checking_cost_function.cc index f2c73367891..13d6c58a6b7 100644 --- a/extern/ceres/internal/ceres/gradient_checking_cost_function.cc +++ b/extern/ceres/internal/ceres/gradient_checking_cost_function.cc @@ -33,13 +33,13 @@ #include <algorithm> #include <cmath> +#include <cstdint> #include <numeric> #include <string> #include <vector> #include "ceres/gradient_checker.h" #include "ceres/internal/eigen.h" -#include "ceres/internal/scoped_ptr.h" #include "ceres/parameter_block.h" #include "ceres/problem.h" #include "ceres/problem_impl.h" @@ -74,8 +74,8 @@ class GradientCheckingCostFunction : public CostFunction { relative_precision_(relative_precision), extra_info_(extra_info), callback_(callback) { - CHECK_NOTNULL(callback_); - const vector<int32>& parameter_block_sizes = + CHECK(callback_ != nullptr); + const vector<int32_t>& parameter_block_sizes = function->parameter_block_sizes(); *mutable_parameter_block_sizes() = parameter_block_sizes; set_num_residuals(function->num_residuals()); @@ -83,9 +83,9 @@ class GradientCheckingCostFunction : public CostFunction { virtual ~GradientCheckingCostFunction() { } - virtual bool Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const { + bool Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const final { if (!jacobians) { // Nothing to check in this case; just forward. return function_->Evaluate(parameters, residuals, NULL); @@ -107,7 +107,7 @@ class GradientCheckingCostFunction : public CostFunction { MatrixRef(residuals, num_residuals, 1) = results.residuals; // Copy the original jacobian blocks into the jacobians array. - const vector<int32>& block_sizes = function_->parameter_block_sizes(); + const vector<int32_t>& block_sizes = function_->parameter_block_sizes(); for (int k = 0; k < block_sizes.size(); k++) { if (jacobians[k] != NULL) { MatrixRef(jacobians[k], @@ -148,10 +148,9 @@ CallbackReturnType GradientCheckingIterationCallback::operator()( } void GradientCheckingIterationCallback::SetGradientErrorDetected( std::string& error_log) { - mutex_.Lock(); + std::lock_guard<std::mutex> l(mutex_); gradient_error_detected_ = true; error_log_ += "\n" + error_log; - mutex_.Unlock(); } CostFunction* CreateGradientCheckingCostFunction( @@ -176,7 +175,7 @@ ProblemImpl* CreateGradientCheckingProblemImpl( double relative_step_size, double relative_precision, GradientCheckingIterationCallback* callback) { - CHECK_NOTNULL(callback); + CHECK(callback != nullptr); // We create new CostFunctions by wrapping the original CostFunction // in a gradient checking CostFunction. So its okay for the // ProblemImpl to take ownership of it and destroy it. The @@ -189,6 +188,7 @@ ProblemImpl* CreateGradientCheckingProblemImpl( DO_NOT_TAKE_OWNERSHIP; gradient_checking_problem_options.local_parameterization_ownership = DO_NOT_TAKE_OWNERSHIP; + gradient_checking_problem_options.context = problem_impl->context(); NumericDiffOptions numeric_diff_options; numeric_diff_options.relative_step_size = relative_step_size; @@ -212,6 +212,17 @@ ProblemImpl* CreateGradientCheckingProblemImpl( gradient_checking_problem_impl->SetParameterBlockConstant( parameter_block->mutable_user_state()); } + + for (int i = 0; i < parameter_block->Size(); ++i) { + gradient_checking_problem_impl->SetParameterUpperBound( + parameter_block->mutable_user_state(), + i, + parameter_block->UpperBound(i)); + gradient_checking_problem_impl->SetParameterLowerBound( + parameter_block->mutable_user_state(), + i, + parameter_block->LowerBound(i)); + } } // For every ResidualBlock in problem_impl, create a new @@ -255,7 +266,8 @@ ProblemImpl* CreateGradientCheckingProblemImpl( gradient_checking_problem_impl->AddResidualBlock( gradient_checking_cost_function, const_cast<LossFunction*>(residual_block->loss_function()), - parameter_blocks); + parameter_blocks.data(), + static_cast<int>(parameter_blocks.size())); } // Normally, when a problem is given to the solver, we guarantee |