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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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internal/ceres/problem_impl.cc
+32
View File
@@ -41,6 +41,7 @@
#include <utility>
#include <vector>
#include "ceres/internal/fixed_array.h"
#include "ceres/casts.h"
#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/compressed_row_sparse_matrix.h"
@@ -771,6 +772,37 @@ bool ProblemImpl::Evaluate(const Problem::EvaluateOptions& evaluate_options,
return status;
}
bool ProblemImpl::EvaluateResidualBlock(ResidualBlock* residual_block,
bool apply_loss_function,
double* cost,
double* residuals,
double** jacobians) const {
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) {
ParameterBlock* parameter_block = parameter_blocks[i];
if (parameter_block->IsConstant()) {
if (jacobians != nullptr && jacobians[i] != nullptr) {
LOG(ERROR) << "Jacobian requested for parameter block : " << i
<< ". But the parameter block is marked constant.";
return false;
}
} else {
CHECK(parameter_block->SetState(parameter_block->user_state()))
<< "Congratulations, you found a Ceres bug! Please report this error "
<< "to the developers.";
}
}
double dummy_cost = 0.0;
FixedArray<double> scratch(residual_block->NumScratchDoublesForEvaluate());
return residual_block->Evaluate(apply_loss_function,
cost ? cost : &dummy_cost,
residuals,
jacobians,
scratch.data());
}
int ProblemImpl::NumParameterBlocks() const {
return program_->NumParameterBlocks();
}