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Add Problem::EvaluateResidualBlock.

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This method gives the user the ability to evaluate a given residual
block.

A couple of minor cleanups.

Problem::problem_impl_ -> Problem::impl_
NULL -> nullptr

https://github.com/ceres-solver/ceres-solver/issues/417

Change-Id: I6dd94762c475fa264c387b8c93d516f6e06fe832
This commit is contained in:
Sameer Agarwal
2019-04-27 16:26:10 -07:00
parent 54ba6c27b5
commit 1b852c57e0
10 changed files with 682 additions and 92 deletions
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docs/source/nnls_modeling.rst
+34
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@@ -1753,6 +1753,39 @@ Instances
Get the :class:`LossFunction` for the given residual block.
.. function:: bool EvaluateResidualBlock(ResidualBlockId residual_block_id, bool apply_loss_function, double* cost,double* residuals, double** jacobians) const;
Evaluates the residual block, storing the scalar cost in ``cost``, the
residual components in ``residuals``, and the jacobians between the
parameters and residuals in ``jacobians[i]``, in row-major order.
If ``residuals`` is ``nullptr``, the residuals are not computed.
If ``jacobians`` is ``nullptr``, no Jacobians are computed. If
``jacobians[i]`` is ``nullptr``, then the Jacobian for that
parameter block is not computed.
It is not okay to request the Jacobian w.r.t a parameter block
that is constant.
The return value indicates the success or failure. Even if the
function returns false, the caller should expect the output
memory locations to have been modified.
The returned cost and jacobians have had robustification and local
parameterizations applied already; for example, the jacobian for a
4-dimensional quaternion parameter using the
:class:`QuaternionParameterization` is ``num_residuals x 3``
instead of ``num_residuals x 4``.
``apply_loss_function`` as the name implies allows the user to
switch the application of the loss function on and off.
.. NOTE::
TODO(sameeragarwal): Clarify interaction with IterationCallback
once that cleanup is done.
.. function:: bool Problem::Evaluate(const Problem::EvaluateOptions& options, double* cost, vector<double>* residuals, vector<double>* gradient, CRSMatrix* jacobian)
Evaluate a :class:`Problem`. Any of the output pointers can be
@@ -1840,6 +1873,7 @@ Instances
Number of threads to use. (Requires OpenMP).
..
``rotation.h``
==============