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Let NumericDiffFirstOrderFunction take a dynamically sized parameter vector

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Also fix a template naming lint along the way.

Change-Id: Iabb98aeec2ff9609a19c3778b9ea2da37771c985
This commit is contained in:
Sameer Agarwal
2022-09-15 15:10:13 -07:00
committed by Sameer Agarwal
parent 6c27ac6d50
commit 4cd257cf4a
5 changed files with 129 additions and 29 deletions
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include/ceres/numeric_diff_cost_function.h
+2 -2
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@@ -176,7 +176,7 @@
namespace ceres {
template <typename CostFunctor,
NumericDiffMethodType method = CENTRAL,
NumericDiffMethodType kMethod = CENTRAL,
int kNumResiduals = 0, // Number of residuals, or ceres::DYNAMIC
int... Ns> // Parameters dimensions for each block.
class NumericDiffCostFunction final
@@ -236,7 +236,7 @@ class NumericDiffCostFunction final
}
internal::EvaluateJacobianForParameterBlocks<ParameterDims>::
template Apply<method, kNumResiduals>(
template Apply<kMethod, kNumResiduals>(
functor_.get(),
residuals,
options_,