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Sized cost function using variadic templates

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This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.

Trailing parameter blocks of size zero are now considered as error.

Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
This commit is contained in:
Johannes Beck
2018-10-13 22:34:53 +02:00
parent f8e8951611
commit 8eef94de4e
12 changed files with 380 additions and 591 deletions
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include/ceres/dynamic_numeric_diff_cost_function.h
+18 -37
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@@ -42,6 +42,7 @@
#include "ceres/dynamic_cost_function.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/numeric_diff.h"
#include "ceres/internal/parameter_dims.h"
#include "ceres/numeric_diff_options.h"
#include "glog/logging.h"
@@ -103,7 +104,11 @@ class DynamicNumericDiffCostFunction : public DynamicCostFunction {
<< "You must call DynamicNumericDiffCostFunction::AddParameterBlock() "
<< "before DynamicNumericDiffCostFunction::Evaluate().";
const bool status = EvaluateCostFunctor(parameters, residuals);
const bool status =
internal::VariadicEvaluate<internal::DynamicParameterDims>(
*functor_.get(),
parameters,
residuals);
if (jacobians == NULL || !status) {
return status;
}
@@ -127,18 +132,18 @@ class DynamicNumericDiffCostFunction : public DynamicCostFunction {
for (size_t block = 0; block < block_sizes.size(); ++block) {
if (jacobians[block] != NULL &&
!NumericDiff<CostFunctor, method, DYNAMIC,
DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC, DYNAMIC,
DYNAMIC, DYNAMIC>::EvaluateJacobianForParameterBlock(
functor_.get(),
residuals,
options_,
this->num_residuals(),
block,
block_sizes[block],
&parameters_references_copy[0],
jacobians[block])) {
!NumericDiff<CostFunctor, method, ceres::DYNAMIC,
internal::DynamicParameterDims, ceres::DYNAMIC,
ceres::DYNAMIC>::
EvaluateJacobianForParameterBlock(
functor_.get(),
residuals,
options_,
this->num_residuals(),
block,
block_sizes[block],
&parameters_references_copy[0],
jacobians[block])) {
return false;
}
}
@@ -146,30 +151,6 @@ class DynamicNumericDiffCostFunction : public DynamicCostFunction {
}
private:
bool EvaluateCostFunctor(double const* const* parameters,
double* residuals) const {
return EvaluateCostFunctorImpl(functor_.get(),
parameters,
residuals,
functor_.get());
}
// Helper templates to allow evaluation of a functor or a
// CostFunction.
bool EvaluateCostFunctorImpl(const CostFunctor* functor,
double const* const* parameters,
double* residuals,
const void* /* NOT USED */) const {
return (*functor)(parameters, residuals);
}
bool EvaluateCostFunctorImpl(const CostFunctor* functor,
double const* const* parameters,
double* residuals,
const CostFunction* /* NOT USED */) const {
return functor->Evaluate(parameters, residuals, NULL);
}
std::unique_ptr<const CostFunctor> functor_;
Ownership ownership_;
NumericDiffOptions options_;