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Cleanup example code

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Remove "using ceres:foo" directives from example code. The using
directives actually make the code harder to read unless you already
know the ceres API. By making the namespace explicit it is clear
to the reader that these are functions and objects from the Ceres
API.

Change-Id: I89b1281c754bf71c0f82e39e1607c5e40a148388
This commit is contained in:
Sameer Agarwal
2023-09-27 14:30:58 -07:00
parent 59182a42c3
commit 3712650941
10 changed files with 77 additions and 133 deletions
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examples/sampled_function/sampled_function.cc
+13 -20
View File
@@ -35,19 +35,12 @@
#include "ceres/cubic_interpolation.h"
#include "glog/logging.h"
using ceres::AutoDiffCostFunction;
using ceres::CostFunction;
using ceres::CubicInterpolator;
using ceres::Grid1D;
using ceres::Problem;
using ceres::Solve;
using ceres::Solver;
using Interpolator = ceres::CubicInterpolator<ceres::Grid1D<double>>;
// A simple cost functor that interfaces an interpolated table of
// values with automatic differentiation.
struct InterpolatedCostFunctor {
explicit InterpolatedCostFunctor(
const CubicInterpolator<Grid1D<double>>& interpolator)
explicit InterpolatedCostFunctor(const Interpolator& interpolator)
: interpolator_(interpolator) {}
template <typename T>
@@ -56,14 +49,13 @@ struct InterpolatedCostFunctor {
return true;
}
static CostFunction* Create(
const CubicInterpolator<Grid1D<double>>& interpolator) {
return new AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
static ceres::CostFunction* Create(const Interpolator& interpolator) {
return new ceres::AutoDiffCostFunction<InterpolatedCostFunctor, 1, 1>(
new InterpolatedCostFunctor(interpolator));
}
private:
const CubicInterpolator<Grid1D<double>>& interpolator_;
const Interpolator& interpolator_;
};
int main(int argc, char** argv) {
@@ -76,18 +68,19 @@ int main(int argc, char** argv) {
values[i] = (i - 4.5) * (i - 4.5);
}
Grid1D<double> array(values, 0, kNumSamples);
CubicInterpolator<Grid1D<double>> interpolator(array);
ceres::Grid1D<double> array(values, 0, kNumSamples);
Interpolator interpolator(array);
double x = 1.0;
Problem problem;
CostFunction* cost_function = InterpolatedCostFunctor::Create(interpolator);
ceres::Problem problem;
ceres::CostFunction* cost_function =
InterpolatedCostFunctor::Create(interpolator);
problem.AddResidualBlock(cost_function, nullptr, &x);
Solver::Options options;
ceres::Solver::Options options;
options.minimizer_progress_to_stdout = true;
Solver::Summary summary;
Solve(options, &problem, &summary);
ceres::Solver::Summary summary;
ceres::Solve(options, &problem, &summary);
std::cout << summary.BriefReport() << "\n";
std::cout << "Expected x: 4.5. Actual x : " << x << std::endl;
return 0;