diff options
Diffstat (limited to 'extern/ceres/internal/ceres/problem_impl.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/problem_impl.cc | 20 |
1 files changed, 14 insertions, 6 deletions
diff --git a/extern/ceres/internal/ceres/problem_impl.cc b/extern/ceres/internal/ceres/problem_impl.cc index 6cc4d336c6a..3155bc3569e 100644 --- a/extern/ceres/internal/ceres/problem_impl.cc +++ b/extern/ceres/internal/ceres/problem_impl.cc @@ -601,7 +601,6 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options, CRSMatrix* jacobian) { if (cost == nullptr && residuals == nullptr && gradient == nullptr && jacobian == nullptr) { - LOG(INFO) << "Nothing to do."; return true; } @@ -686,10 +685,12 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options, // type of linear solver being used. evaluator_options.linear_solver_type = SPARSE_NORMAL_CHOLESKY; #ifdef CERES_NO_THREADS - LOG_IF(WARNING, evaluate_options.num_threads > 1) - << "No threading support is compiled into this binary; " - << "only evaluate_options.num_threads = 1 is supported. Switching " - << "to single threaded mode."; + if (evaluate_options.num_threads > 1) { + LOG(WARNING) + << "No threading support is compiled into this binary; " + << "only evaluate_options.num_threads = 1 is supported. Switching " + << "to single threaded mode."; + } evaluator_options.num_threads = 1; #else evaluator_options.num_threads = evaluate_options.num_threads; @@ -768,9 +769,15 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options, bool ProblemImpl::EvaluateResidualBlock(ResidualBlock* residual_block, bool apply_loss_function, + bool new_point, double* cost, double* residuals, double** jacobians) const { + auto evaluation_callback = program_->mutable_evaluation_callback(); + if (evaluation_callback) { + evaluation_callback->PrepareForEvaluation(jacobians != nullptr, new_point); + } + ParameterBlock* const* parameter_blocks = residual_block->parameter_blocks(); const int num_parameter_blocks = residual_block->NumParameterBlocks(); for (int i = 0; i < num_parameter_blocks; ++i) { @@ -789,7 +796,8 @@ bool ProblemImpl::EvaluateResidualBlock(ResidualBlock* residual_block, } double dummy_cost = 0.0; - FixedArray<double> scratch(residual_block->NumScratchDoublesForEvaluate()); + FixedArray<double, 32> scratch( + residual_block->NumScratchDoublesForEvaluate()); return residual_block->Evaluate(apply_loss_function, cost ? cost : &dummy_cost, residuals, |