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Fix the docs for Problem::RemoveResidualBlock & Problem::RemoveParameterBlock

Browse Source 
The documentation was out of date about how memory management is
done in Problem.

https://github.com/ceres-solver/ceres-solver/issues/699

Change-Id: Ie55027796bc372cdcbaaca2bf2c93643c303a8e5
This commit is contained in:
Sameer Agarwal
2021-09-22 17:06:19 -07:00
parent 06e02a1735
commit d2852518d6
2 changed files with 27 additions and 19 deletions
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docs/source/gradient_tutorial.rst
+2 -2
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@@ -165,8 +165,8 @@ follows [#f2]_.
And finally, if you would rather compute the derivatives by hand (say
because the size of the parameter vector is too large to be
automatically differentiated). Then you should define an instance of
``FirstOrderFunction``, which is the analog of :class:`CostFunction`
for non-linear least squares problems [#f3]_.
`FirstOrderFunction`, which is the analog of :class:`CostFunction` for
non-linear least squares problems [#f3]_.
.. code::
docs/source/nnls_modeling.rst
+25 -17
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@@ -1798,13 +1798,20 @@ quaternion, a local parameterization can be constructed as
.. function:: void Problem::RemoveResidualBlock(ResidualBlockId residual_block)
Remove a residual block from the problem. Any parameters that the residual
block depends on are not removed. The cost and loss functions for the
residual block will not get deleted immediately; won't happen until the
problem itself is deleted. If Problem::Options::enable_fast_removal is
true, then the removal is fast (almost constant time). Otherwise, removing a
residual block will incur a scan of the entire Problem object to verify that
the residual_block represents a valid residual in the problem.
Remove a residual block from the problem.
Since residual blocks are allowed to share cost function and loss
function objects, Ceres Solver uses a reference counting
mechanism. So when a residual block is deleted, the reference count
for the corresponding cost function and loss function objects are
decreased and when this count reaches zero, they are deleted.
If Problem::Options::enable_fast_removal is true, then the removal
is fast (almost constant time). Otherwise it is linear, requiring a
scan of the entire problem.
Removing a residual block has no effect on the parameter blocks
that the problem depends on.
**WARNING:** Removing a residual or parameter block will destroy
the implicit ordering, rendering the jacobian or residuals returned
@@ -1814,14 +1821,16 @@ quaternion, a local parameterization can be constructed as
.. function:: void Problem::RemoveParameterBlock(const double* values)
Remove a parameter block from the problem. The parameterization of
the parameter block, if it exists, will persist until the deletion
of the problem (similar to cost/loss functions in residual block
removal). Any residual blocks that depend on the parameter are also
removed, as described above in RemoveResidualBlock(). If
Problem::Options::enable_fast_removal is true, then
the removal is fast (almost constant time). Otherwise, removing a
parameter block will incur a scan of the entire Problem object.
Remove a parameter block from the problem. Any residual blocks that
depend on the parameter are also removed, as described above in
RemoveResidualBlock().
The parameterization of the parameter block, if it exists, will
persist until the deletion of the problem.
If Problem::Options::enable_fast_removal is true, then the removal
is fast (almost constant time). Otherwise, removing a parameter
block will scan the entire Problem.
**WARNING:** Removing a residual or parameter block will destroy
the implicit ordering, rendering the jacobian or residuals returned
@@ -1944,8 +1953,7 @@ quaternion, a local parameterization can be constructed as
If `Problem::Options::enable_fast_removal` is
`true`, then getting the residual blocks is fast and depends only
on the number of residual blocks. Otherwise, getting the residual
blocks for a parameter block will incur a scan of the entire
:class:`Problem` object.
blocks for a parameter block will scan the entire problem.
.. function:: const CostFunction* Problem::GetCostFunctionForResidualBlock(const ResidualBlockId residual_block) const