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Use int32 for parameter block sizes.

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CostFunction now uses int32 instead of int16
to store the size of its parameter blocks.

This is an API breaking change.

Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e
This commit is contained in:
Sameer Agarwal
2014-01-07 22:22:14 -08:00
parent a7fda3317b
commit 85561eee95
13 changed files with 34 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/source/modeling.rst
+2 -2
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@@ -53,11 +53,11 @@ residuals and their derivatives. This is done using
virtual bool Evaluate(double const* const* parameters,
double* residuals,
double** jacobians) = 0;
const vector<int16>& parameter_block_sizes();
const vector<int32>& parameter_block_sizes();
int num_residuals() const;
protected:
vector<int16>* mutable_parameter_block_sizes();
vector<int32>* mutable_parameter_block_sizes();
void set_num_residuals(int num_residuals);
};
include/ceres/cost_function.h
+3 -3
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@@ -115,7 +115,7 @@ class CostFunction {
double* residuals,
double** jacobians) const = 0;
const vector<int16>& parameter_block_sizes() const {
const vector<int32>& parameter_block_sizes() const {
return parameter_block_sizes_;
}
@@ -124,7 +124,7 @@ class CostFunction {
}
protected:
vector<int16>* mutable_parameter_block_sizes() {
vector<int32>* mutable_parameter_block_sizes() {
return &parameter_block_sizes_;
}
@@ -135,7 +135,7 @@ class CostFunction {
private:
// Cost function signature metadata: number of inputs & their sizes,
// number of outputs (residuals).
vector<int16> parameter_block_sizes_;
vector<int32> parameter_block_sizes_;
int num_residuals_;
CERES_DISALLOW_COPY_AND_ASSIGN(CostFunction);
};
include/ceres/cost_function_to_functor.h
+3 -3
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@@ -127,7 +127,7 @@ class CostFunctionToFunctor {
<< N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
<< N8 << ", " << N9;
const vector<int16>& parameter_block_sizes =
const vector<int32>& parameter_block_sizes =
cost_function->parameter_block_sizes();
const int num_parameter_blocks =
(N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
@@ -679,7 +679,7 @@ class CostFunctionToFunctor {
template <typename JetT>
bool EvaluateWithJets(const JetT** inputs, JetT* output) const {
const int kNumParameters = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
const vector<int16>& parameter_block_sizes =
const vector<int32>& parameter_block_sizes =
cost_function_->parameter_block_sizes();
const int num_parameter_blocks = parameter_block_sizes.size();
const int num_residuals = cost_function_->num_residuals();
@@ -732,7 +732,7 @@ class CostFunctionToFunctor {
output[i].v.setZero();
for (int j = 0; j < num_parameter_blocks; ++j) {
const int16 block_size = parameter_block_sizes[j];
const int32 block_size = parameter_block_sizes[j];
for (int k = 0; k < parameter_block_sizes[j]; ++k) {
output[i].v +=
jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
include/ceres/dynamic_numeric_diff_cost_function.h
+1 -1
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@@ -104,7 +104,7 @@ class DynamicNumericDiffCostFunction : public CostFunction {
<< "You must call DynamicNumericDiffCostFunction::SetNumResiduals() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
const vector<int16>& block_sizes = parameter_block_sizes();
const vector<int32>& block_sizes = parameter_block_sizes();
CHECK(!block_sizes.empty())
<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
include/ceres/gradient_checker.h
+1 -1
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@@ -119,7 +119,7 @@ class GradientChecker {
// Do a consistency check between the term and the template parameters.
CHECK_EQ(M, term->num_residuals());
const int num_residuals = M;
const vector<int16>& block_sizes = term->parameter_block_sizes();
const vector<int32>& block_sizes = term->parameter_block_sizes();
const int num_blocks = block_sizes.size();
CHECK_LE(num_blocks, 5) << "Unable to test functions that take more "
internal/ceres/block_structure.h
+1 -1
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@@ -47,7 +47,7 @@ namespace internal {
class BlockStructureProto;
typedef int16 BlockSize;
typedef int32 BlockSize;
struct Block {
Block() : size(-1), position(-1) {}
internal/ceres/cost_function_to_functor_test.cc
+2 -2
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@@ -42,9 +42,9 @@ void ExpectCostFunctionsAreEqual(const CostFunction& cost_function,
EXPECT_EQ(cost_function.num_residuals(),
actual_cost_function.num_residuals());
const int num_residuals = cost_function.num_residuals();
const vector<int16>& parameter_block_sizes =
const vector<int32>& parameter_block_sizes =
cost_function.parameter_block_sizes();
const vector<int16>& actual_parameter_block_sizes =
const vector<int32>& actual_parameter_block_sizes =
actual_cost_function.parameter_block_sizes();
EXPECT_EQ(parameter_block_sizes.size(),
actual_parameter_block_sizes.size());
internal/ceres/covariance_test.cc
+3 -3
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@@ -125,7 +125,7 @@ TEST(CovarianceImpl, ComputeCovarianceSparsity) {
class UnaryCostFunction: public CostFunction {
public:
UnaryCostFunction(const int num_residuals,
const int16 parameter_block_size,
const int32 parameter_block_size,
const double* jacobian)
: jacobian_(jacobian, jacobian + num_residuals * parameter_block_size) {
set_num_residuals(num_residuals);
@@ -158,8 +158,8 @@ class UnaryCostFunction: public CostFunction {
class BinaryCostFunction: public CostFunction {
public:
BinaryCostFunction(const int num_residuals,
const int16 parameter_block1_size,
const int16 parameter_block2_size,
const int32 parameter_block1_size,
const int32 parameter_block2_size,
const double* jacobian1,
const double* jacobian2)
: jacobian1_(jacobian1,
internal/ceres/gradient_checking_cost_function.cc
+2 -2
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@@ -93,7 +93,7 @@ class GradientCheckingCostFunction : public CostFunction {
DO_NOT_TAKE_OWNERSHIP,
relative_step_size);
const vector<int16>& parameter_block_sizes =
const vector<int32>& parameter_block_sizes =
function->parameter_block_sizes();
for (int i = 0; i < parameter_block_sizes.size(); ++i) {
finite_diff_cost_function->AddParameterBlock(parameter_block_sizes[i]);
@@ -117,7 +117,7 @@ class GradientCheckingCostFunction : public CostFunction {
int num_residuals = function_->num_residuals();
// Make space for the jacobians of the two methods.
const vector<int16>& block_sizes = function_->parameter_block_sizes();
const vector<int32>& block_sizes = function_->parameter_block_sizes();
vector<Matrix> term_jacobians(block_sizes.size());
vector<Matrix> finite_difference_jacobians(block_sizes.size());
vector<double*> term_jacobian_pointers(block_sizes.size());
internal/ceres/gradient_checking_cost_function_test.cc
+6 -6
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@@ -264,7 +264,7 @@ TEST(GradientCheckingCostFunction, SmokeTest) {
// Trivial cost function that accepts a single argument.
class UnaryCostFunction : public CostFunction {
public:
UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block_size);
}
@@ -284,8 +284,8 @@ class UnaryCostFunction : public CostFunction {
class BinaryCostFunction: public CostFunction {
public:
BinaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size) {
int32 parameter_block1_size,
int32 parameter_block2_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
@@ -305,9 +305,9 @@ class BinaryCostFunction: public CostFunction {
class TernaryCostFunction: public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size,
int16 parameter_block3_size) {
int32 parameter_block1_size,
int32 parameter_block2_size,
int32 parameter_block3_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
internal/ceres/problem_impl.cc
+1 -1
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@@ -224,7 +224,7 @@ ResidualBlock* ProblemImpl::AddResidualBlock(
cost_function->parameter_block_sizes().size());
// Check the sizes match.
const vector<int16>& parameter_block_sizes =
const vector<int32>& parameter_block_sizes =
cost_function->parameter_block_sizes();
if (!options_.disable_all_safety_checks) {
internal/ceres/problem_test.cc
+6 -6
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@@ -56,7 +56,7 @@ namespace internal {
// Trivial cost function that accepts a single argument.
class UnaryCostFunction : public CostFunction {
public:
UnaryCostFunction(int num_residuals, int16 parameter_block_size) {
UnaryCostFunction(int num_residuals, int32 parameter_block_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block_size);
}
@@ -76,8 +76,8 @@ class UnaryCostFunction : public CostFunction {
class BinaryCostFunction: public CostFunction {
public:
BinaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size) {
int32 parameter_block1_size,
int32 parameter_block2_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
@@ -97,9 +97,9 @@ class BinaryCostFunction: public CostFunction {
class TernaryCostFunction: public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size,
int16 parameter_block3_size) {
int32 parameter_block1_size,
int32 parameter_block2_size,
int32 parameter_block3_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);
internal/ceres/residual_block_test.cc
+3 -3
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@@ -43,9 +43,9 @@ namespace internal {
class TernaryCostFunction: public CostFunction {
public:
TernaryCostFunction(int num_residuals,
int16 parameter_block1_size,
int16 parameter_block2_size,
int16 parameter_block3_size) {
int32 parameter_block1_size,
int32 parameter_block2_size,
int32 parameter_block3_size) {
set_num_residuals(num_residuals);
mutable_parameter_block_sizes()->push_back(parameter_block1_size);
mutable_parameter_block_sizes()->push_back(parameter_block2_size);