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Implement AddResidualBlock using variadic templates

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This CL changes the implementation of AddResidualBlock() in
ceres::Problem using variadic templates. Also one new overload for
AddResidualBlock() is added using a double** and the number of
parameter blocks.

Change-Id: I007a82a06897335a117213a0d12fedb4a77076a0
This commit is contained in:
Johannes Beck
2018-10-15 21:10:05 +02:00
parent e243fd292d
commit e51e9b46f6
7 changed files with 68 additions and 340 deletions
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include/ceres/problem.h
+22 -45
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@@ -34,6 +34,7 @@
#ifndef CERES_PUBLIC_PROBLEM_H_
#define CERES_PUBLIC_PROBLEM_H_
#include <array>
#include <cstddef>
#include <map>
#include <memory>
@@ -212,56 +213,32 @@ class CERES_EXPORT Problem {
// problem.AddResidualBlock(new MyUnaryCostFunction(...), NULL, x1);
// problem.AddResidualBlock(new MyBinaryCostFunction(...), NULL, x2, x1);
//
// Add a residual block by listing the parameter block pointers
// directly instead of wapping them in a container.
template <typename... Ts>
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0,
Ts*... xs) {
const std::array<double*, sizeof...(Ts) + 1> parameter_blocks{{x0, xs...}};
return AddResidualBlock(cost_function, loss_function,
parameter_blocks.data(),
static_cast<int>(parameter_blocks.size()));
}
// Add a residual block by providing a vector of parameter blocks.
ResidualBlockId AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
const std::vector<double*>& parameter_blocks);
// Convenience methods for adding residuals with a small number of
// parameters. This is the common case. Instead of specifying the
// parameter block arguments as a vector, list them as pointers.
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8);
ResidualBlockId AddResidualBlock(CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2,
double* x3, double* x4, double* x5,
double* x6, double* x7, double* x8,
double* x9);
// Add a residual block by providing a pointer to the parameter block array
// and the number of parameter blocks.
ResidualBlockId AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* const* const parameter_blocks,
int num_parameter_blocks);
// Add a parameter block with appropriate size to the problem.
// Repeated calls with the same arguments are ignored. Repeated