diff options
Diffstat (limited to 'extern/ceres/internal/ceres/problem.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/problem.cc | 207 |
1 files changed, 63 insertions, 144 deletions
diff --git a/extern/ceres/internal/ceres/problem.cc b/extern/ceres/internal/ceres/problem.cc index 730ce642036..767fe977296 100644 --- a/extern/ceres/internal/ceres/problem.cc +++ b/extern/ceres/internal/ceres/problem.cc @@ -32,6 +32,7 @@ #include "ceres/problem.h" #include <vector> + #include "ceres/crs_matrix.h" #include "ceres/problem_impl.h" @@ -39,166 +40,90 @@ namespace ceres { using std::vector; -Problem::Problem() : problem_impl_(new internal::ProblemImpl) {} +Problem::Problem() : impl_(new internal::ProblemImpl) {} Problem::Problem(const Problem::Options& options) - : problem_impl_(new internal::ProblemImpl(options)) {} + : impl_(new internal::ProblemImpl(options)) {} +// Not inline defaulted in declaration due to use of std::unique_ptr. +Problem::Problem(Problem&&) = default; +Problem& Problem::operator=(Problem&&) = default; Problem::~Problem() {} ResidualBlockId Problem::AddResidualBlock( CostFunction* cost_function, LossFunction* loss_function, const vector<double*>& parameter_blocks) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - parameter_blocks); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3, x4); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3, x4, x5); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, - double* x6) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3, x4, x5, x6); + return impl_->AddResidualBlock(cost_function, + loss_function, + parameter_blocks.data(), + static_cast<int>(parameter_blocks.size())); } -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, - double* x6, double* x7) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3, x4, x5, x6, x7); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, - double* x6, double* x7, double* x8) { - return problem_impl_->AddResidualBlock(cost_function, - loss_function, - x0, x1, x2, x3, x4, x5, x6, x7, x8); -} - -ResidualBlockId Problem::AddResidualBlock( - CostFunction* cost_function, - LossFunction* loss_function, - double* x0, double* x1, double* x2, double* x3, double* x4, double* x5, - double* x6, double* x7, double* x8, double* x9) { - return problem_impl_->AddResidualBlock( - cost_function, - loss_function, - x0, x1, x2, x3, x4, x5, x6, x7, x8, x9); +ResidualBlockId Problem::AddResidualBlock(CostFunction* cost_function, + LossFunction* loss_function, + double* const* const parameter_blocks, + int num_parameter_blocks) { + return impl_->AddResidualBlock( + cost_function, loss_function, parameter_blocks, num_parameter_blocks); } void Problem::AddParameterBlock(double* values, int size) { - problem_impl_->AddParameterBlock(values, size); + impl_->AddParameterBlock(values, size); } void Problem::AddParameterBlock(double* values, int size, LocalParameterization* local_parameterization) { - problem_impl_->AddParameterBlock(values, size, local_parameterization); + impl_->AddParameterBlock(values, size, local_parameterization); } void Problem::RemoveResidualBlock(ResidualBlockId residual_block) { - problem_impl_->RemoveResidualBlock(residual_block); + impl_->RemoveResidualBlock(residual_block); } -void Problem::RemoveParameterBlock(double* values) { - problem_impl_->RemoveParameterBlock(values); +void Problem::RemoveParameterBlock(const double* values) { + impl_->RemoveParameterBlock(values); } -void Problem::SetParameterBlockConstant(double* values) { - problem_impl_->SetParameterBlockConstant(values); +void Problem::SetParameterBlockConstant(const double* values) { + impl_->SetParameterBlockConstant(values); } void Problem::SetParameterBlockVariable(double* values) { - problem_impl_->SetParameterBlockVariable(values); + impl_->SetParameterBlockVariable(values); } -bool Problem::IsParameterBlockConstant(double* values) const { - return problem_impl_->IsParameterBlockConstant(values); +bool Problem::IsParameterBlockConstant(const double* values) const { + return impl_->IsParameterBlockConstant(values); } void Problem::SetParameterization( - double* values, - LocalParameterization* local_parameterization) { - problem_impl_->SetParameterization(values, local_parameterization); + double* values, LocalParameterization* local_parameterization) { + impl_->SetParameterization(values, local_parameterization); } const LocalParameterization* Problem::GetParameterization( - double* values) const { - return problem_impl_->GetParameterization(values); + const double* values) const { + return impl_->GetParameterization(values); } void Problem::SetParameterLowerBound(double* values, int index, double lower_bound) { - problem_impl_->SetParameterLowerBound(values, index, lower_bound); + impl_->SetParameterLowerBound(values, index, lower_bound); } void Problem::SetParameterUpperBound(double* values, int index, double upper_bound) { - problem_impl_->SetParameterUpperBound(values, index, upper_bound); + impl_->SetParameterUpperBound(values, index, upper_bound); +} + +double Problem::GetParameterUpperBound(const double* values, int index) const { + return impl_->GetParameterUpperBound(values, index); +} + +double Problem::GetParameterLowerBound(const double* values, int index) const { + return impl_->GetParameterLowerBound(values, index); } bool Problem::Evaluate(const EvaluateOptions& evaluate_options, @@ -206,72 +131,66 @@ bool Problem::Evaluate(const EvaluateOptions& evaluate_options, vector<double>* residuals, vector<double>* gradient, CRSMatrix* jacobian) { - return problem_impl_->Evaluate(evaluate_options, - cost, - residuals, - gradient, - jacobian); + return impl_->Evaluate(evaluate_options, cost, residuals, gradient, jacobian); } -int Problem::NumParameterBlocks() const { - return problem_impl_->NumParameterBlocks(); +bool Problem::EvaluateResidualBlock(ResidualBlockId residual_block_id, + bool apply_loss_function, + double* cost, + double* residuals, + double** jacobians) const { + return impl_->EvaluateResidualBlock( + residual_block_id, apply_loss_function, cost, residuals, jacobians); } -int Problem::NumParameters() const { - return problem_impl_->NumParameters(); -} +int Problem::NumParameterBlocks() const { return impl_->NumParameterBlocks(); } -int Problem::NumResidualBlocks() const { - return problem_impl_->NumResidualBlocks(); -} +int Problem::NumParameters() const { return impl_->NumParameters(); } -int Problem::NumResiduals() const { - return problem_impl_->NumResiduals(); -} +int Problem::NumResidualBlocks() const { return impl_->NumResidualBlocks(); } + +int Problem::NumResiduals() const { return impl_->NumResiduals(); } int Problem::ParameterBlockSize(const double* parameter_block) const { - return problem_impl_->ParameterBlockSize(parameter_block); + return impl_->ParameterBlockSize(parameter_block); } int Problem::ParameterBlockLocalSize(const double* parameter_block) const { - return problem_impl_->ParameterBlockLocalSize(parameter_block); + return impl_->ParameterBlockLocalSize(parameter_block); } bool Problem::HasParameterBlock(const double* values) const { - return problem_impl_->HasParameterBlock(values); + return impl_->HasParameterBlock(values); } void Problem::GetParameterBlocks(vector<double*>* parameter_blocks) const { - problem_impl_->GetParameterBlocks(parameter_blocks); + impl_->GetParameterBlocks(parameter_blocks); } void Problem::GetResidualBlocks( vector<ResidualBlockId>* residual_blocks) const { - problem_impl_->GetResidualBlocks(residual_blocks); + impl_->GetResidualBlocks(residual_blocks); } void Problem::GetParameterBlocksForResidualBlock( const ResidualBlockId residual_block, vector<double*>* parameter_blocks) const { - problem_impl_->GetParameterBlocksForResidualBlock(residual_block, - parameter_blocks); + impl_->GetParameterBlocksForResidualBlock(residual_block, parameter_blocks); } const CostFunction* Problem::GetCostFunctionForResidualBlock( const ResidualBlockId residual_block) const { - return problem_impl_->GetCostFunctionForResidualBlock(residual_block); + return impl_->GetCostFunctionForResidualBlock(residual_block); } const LossFunction* Problem::GetLossFunctionForResidualBlock( const ResidualBlockId residual_block) const { - return problem_impl_->GetLossFunctionForResidualBlock(residual_block); + return impl_->GetLossFunctionForResidualBlock(residual_block); } void Problem::GetResidualBlocksForParameterBlock( - const double* values, - vector<ResidualBlockId>* residual_blocks) const { - problem_impl_->GetResidualBlocksForParameterBlock(values, - residual_blocks); + const double* values, vector<ResidualBlockId>* residual_blocks) const { + impl_->GetResidualBlocksForParameterBlock(values, residual_blocks); } } // namespace ceres |