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Allow LocalParameterizations to have zero local size.

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Local parameterizations with zero tangent/local size will cause the
corresponding parameter block to be treated as constant.

https://github.com/ceres-solver/ceres-solver/issues/347

Change-Id: I554a2acc420f5dd9d0cc7f97b691877eb057b2c0
This commit is contained in:
Sameer Agarwal
2019-07-11 16:30:59 +02:00
parent 7ac7d79dca
commit 27183d661e
8 changed files with 198 additions and 48 deletions
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internal/ceres/parameter_block_test.cc
+23 -8
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@@ -36,7 +36,7 @@
namespace ceres {
namespace internal {
TEST(ParameterBlock, SetLocalParameterizationDiesOnSizeMismatch) {
TEST(ParameterBlock, SetParameterizationDiesOnSizeMismatch) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
@@ -46,7 +46,7 @@ TEST(ParameterBlock, SetLocalParameterizationDiesOnSizeMismatch) {
parameter_block.SetParameterization(&subset_wrong_size), "global");
}
TEST(ParameterBlock, SetLocalParameterizationWithSameExistingParameterization) {
TEST(ParameterBlock, SetParameterizationWithSameExistingParameterization) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
@@ -56,19 +56,34 @@ TEST(ParameterBlock, SetLocalParameterizationWithSameExistingParameterization) {
parameter_block.SetParameterization(&subset);
}
TEST(ParameterBlock, SetParameterizationDiesOnZeroLocalSize) {
TEST(ParameterBlock, SetParameterizationAllowsResettingToNull) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(0);
indices.push_back(1);
indices.push_back(2);
SubsetParameterization subset(3, indices);
EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(&subset),
"positive dimensional tangent");
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
parameter_block.SetParameterization(nullptr);
EXPECT_EQ(parameter_block.local_parameterization(), nullptr);
}
TEST(ParameterBlock, SetLocalParameterizationAndNormalOperation) {
TEST(ParameterBlock,
SetParameterizationAllowsResettingToDifferentParameterization) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
EXPECT_EQ(parameter_block.local_parameterization(), &subset);
SubsetParameterization subset_different(3, indices);
parameter_block.SetParameterization(&subset_different);
EXPECT_EQ(parameter_block.local_parameterization(), &subset_different);
}
TEST(ParameterBlock, SetParameterizationAndNormalOperation) {
double x[3] = {1.0, 2.0, 3.0};
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;