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Deprecate LocalParameterizations

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Add [[deprecate]] notices to everything LocalParameterization
related.

Make sure that Ceres can be compiled without triggering
deprecation warnings.

Update the documentation:

a. Add deprecation notices.
b. Document interaction between LocalParameterization and Manifold
   coexisting in the Problem.
c. Add documentation for Manifold(s)

Change-Id: Ie4ad48963c83fded86e533c8c60561af402fbaff
This commit is contained in:
Sameer Agarwal
2022-01-24 11:39:21 -08:00
parent fdfa5184a5
commit 0141ca090c
22 changed files with 1159 additions and 204 deletions
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include/ceres/problem.h
+37 -18
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@@ -136,7 +136,10 @@ class CERES_EXPORT Problem {
// the pointers only once, since sharing objects is allowed.
Ownership cost_function_ownership = TAKE_OWNERSHIP;
Ownership loss_function_ownership = TAKE_OWNERSHIP;
Ownership local_parameterization_ownership = TAKE_OWNERSHIP;
[[deprecated(
"Local Parameterizations are deprecated. Use Manifold and "
"manifold_ownership instead.")]] Ownership
local_parameterization_ownership = TAKE_OWNERSHIP;
Ownership manifold_ownership = TAKE_OWNERSHIP;
// If true, trades memory for faster RemoveResidualBlock() and
@@ -292,9 +295,12 @@ class CERES_EXPORT Problem {
// ManifoldAdapter object. So HasManifold() will return true, GetManifold()
// will return the wrapped object and ParameterBlockTangentSize() will return
// the LocalSize of the LocalParameterization.
void AddParameterBlock(double* values,
int size,
LocalParameterization* local_parameterization);
[[deprecated(
"LocalParameterizations are deprecated. Use the version with Manifolds "
"instead.")]] void
AddParameterBlock(double* values,
int size,
LocalParameterization* local_parameterization);
// Add a parameter block with appropriate size and Manifold to the
// problem. It is okay for manifold to be nullptr.
@@ -381,9 +387,12 @@ class CERES_EXPORT Problem {
// During the transition from LocalParameterization to Manifold, internally
// the LocalParameterization is treated as a Manifold by wrapping it using a
// ManifoldAdapter object. So HasManifold() will return true, GetManifold()
// will return the wrapped object and ParameterBlockTangent.
void SetParameterization(double* values,
LocalParameterization* local_parameterization);
// will return the wrapped object and ParameterBlockTangentSize will return
// the same value of ParameterBlockLocalSize.
[[deprecated(
"LocalParameterizations are deprecated. Use SetManifold instead.")]] void
SetParameterization(double* values,
LocalParameterization* local_parameterization);
// Get the LocalParameterization object associated with this parameter block.
// If there is no LocalParameterization associated then nullptr is returned.
@@ -393,19 +402,27 @@ class CERES_EXPORT Problem {
//
// Note also that if a LocalParameterization is associated with a parameter
// block, HasManifold will return true and GetManifold will return the
// LocalParameterization wrapped in a ManifoldAdapeter.
// LocalParameterization wrapped in a ManifoldAdapter.
//
// The converse is not true, i.e., if a Manifold is associated with a
// The converse is NOT true, i.e., if a Manifold is associated with a
// parameter block, HasParameterization will return false and
// GetParameterization will return a nullptr.
const LocalParameterization* GetParameterization(const double* values) const;
[[deprecated(
"LocalParameterizations are deprecated. Use GetManifold "
"instead.")]] const LocalParameterization*
GetParameterization(const double* values) const;
// Returns true if a LocalParameterization or a Manifold is associated with
// this parameter block, false otherwise.
// Returns true if a LocalParameterization is associated with this parameter
// block, false otherwise.
//
// NOTE: This method is deprecated and will be removed in the next public
// release of Ceres Solver. Use HasManifold instead.
bool HasParameterization(const double* values) const;
//
// Note also that if a Manifold is associated with the parameter block, this
// method will return false.
[[deprecated(
"LocalParameterizations are deprecated. Use HasManifold instead.")]] bool
HasParameterization(const double* values) const;
// Set the Manifold for the parameter block. Calling SetManifold with nullptr
// will clear any previously set LocalParameterization or Manifold for the
@@ -417,11 +434,10 @@ class CERES_EXPORT Problem {
// The manifold is owned by the Problem by default (See Problem::Options to
// override this behaviour).
//
// It is acceptable to set the same Manifold for multiple parameter blocks;
// the destructor is careful to delete Manifolds only once.
// It is acceptable to set the same Manifold for multiple parameter blocks.
void SetManifold(double* values, Manifold* manifold);
// Get the manifold object associated with this parameter block.
// Get the Manifold object associated with this parameter block.
//
// If there is no Manifold Or LocalParameterization object associated then
// nullptr is returned.
@@ -430,7 +446,7 @@ class CERES_EXPORT Problem {
// internally the LocalParameterization is treated as a Manifold by wrapping
// it using a ManifoldAdapter object. So calling GetManifold on a parameter
// block with a LocalParameterization associated with it will return the
// LocalParameterization wrapped in a Manifold adapter.
// LocalParameterization wrapped in a ManifoldAdapter
const Manifold* GetManifold(const double* values) const;
// Returns true if a Manifold or a LocalParameterization is associated with
@@ -471,7 +487,10 @@ class CERES_EXPORT Problem {
// for the parameter block. If there is no LocalParameterization or Manifold
// associated with this parameter block, then ParameterBlockLocalSize =
// ParameterBlockSize.
int ParameterBlockLocalSize(const double* values) const;
[[deprecated(
"LocalParameterizations are deprecated. Use ParameterBlockTangentSize "
"instead.")]] int
ParameterBlockLocalSize(const double* values) const;
// The dimenion of the tangent space of the LocalParameterization or Manifold
// for the parameter block. If there is no LocalParameterization or Manifold