saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 16:40:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Improve readability of LocalParameterization code.

Browse Source 
A variety of small cleanups to the local parameterization
implementation and tests to improve readability.

Change-Id: I5457206129cb3c301999d2f88912ba8300a2c934
This commit is contained in:
Sameer Agarwal
2018-10-05 17:03:05 -07:00
parent e004eba85c
commit 3366a66e8f
2 changed files with 17 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/local_parameterization.cc
+16 -9
View File
@@ -49,6 +49,10 @@ bool LocalParameterization::MultiplyByJacobian(const double* x,
const int num_rows,
const double* global_matrix,
double* local_matrix) const {
if (LocalSize() == 0) {
return true;
}
Matrix jacobian(GlobalSize(), LocalSize());
if (!ComputeJacobian(x, jacobian.data())) {
return false;
@@ -74,7 +78,7 @@ bool IdentityParameterization::Plus(const double* x,
bool IdentityParameterization::ComputeJacobian(const double* x,
double* jacobian) const {
MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
MatrixRef(jacobian, size_, size_).setIdentity();
return true;
}
@@ -93,8 +97,8 @@ SubsetParameterization::SubsetParameterization(
: local_size_(size - constant_parameters.size()), constancy_mask_(size, 0) {
vector<int> constant = constant_parameters;
std::sort(constant.begin(), constant.end());
CHECK_GE(constant.front(), 0)
<< "Indices indicating constant parameter must be greater than zero.";
CHECK_GE(constant.front(), 0) << "Indices indicating constant parameter must "
"be greater than equal to zero.";
CHECK_LT(constant.back(), size)
<< "Indices indicating constant parameter must be less than the size "
<< "of the parameter block.";
@@ -108,7 +112,8 @@ SubsetParameterization::SubsetParameterization(
bool SubsetParameterization::Plus(const double* x,
const double* delta,
double* x_plus_delta) const {
for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
const int global_size = GlobalSize();
for (int i = 0, j = 0; i < global_size; ++i) {
if (constancy_mask_[i]) {
x_plus_delta[i] = x[i];
} else {
@@ -124,9 +129,10 @@ bool SubsetParameterization::ComputeJacobian(const double* x,
return true;
}
MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
const int global_size = GlobalSize();
MatrixRef m(jacobian, global_size, local_size_);
m.setZero();
for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
for (int i = 0, j = 0; i < global_size; ++i) {
if (!constancy_mask_[i]) {
m(i, j++) = 1.0;
}
@@ -142,11 +148,12 @@ bool SubsetParameterization::MultiplyByJacobian(const double* x,
return true;
}
const int global_size = GlobalSize();
for (int row = 0; row < num_rows; ++row) {
for (int col = 0, j = 0; col < constancy_mask_.size(); ++col) {
for (int col = 0, j = 0; col < global_size; ++col) {
if (!constancy_mask_[col]) {
local_matrix[row * LocalSize() + j++] =
global_matrix[row * GlobalSize() + col];
local_matrix[row * local_size_ + j++] =
global_matrix[row * global_size + col];
}
}
}
internal/ceres/local_parameterization_test.cc
+1 -1
View File
@@ -82,7 +82,7 @@ TEST(SubsetParameterization, NegativeParameterIndexDeathTest) {
constant_parameters.push_back(-1);
EXPECT_DEATH_IF_SUPPORTED(
SubsetParameterization parameterization(2, constant_parameters),
"greater than zero");
"greater than equal to zero");
}
TEST(SubsetParameterization, GreaterThanSizeParameterIndexDeathTest) {