saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Implement AddResidualBlock using variadic templates

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/problem.cc
+13 -95
View File
@@ -48,104 +48,22 @@ ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
const vector<double*>& parameter_blocks) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
parameter_blocks);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6);
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* x0, double* x1, double* x2, double* x3, double* x4, double* x5,
double* x6, double* x7) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7);
}
ResidualBlockId Problem::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) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8);
}
ResidualBlockId Problem::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) {
return problem_impl_->AddResidualBlock(
cost_function,
loss_function,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9);
parameter_blocks.data(),
static_cast<int>(parameter_blocks.size()));
}
ResidualBlockId Problem::AddResidualBlock(
CostFunction* cost_function,
LossFunction* loss_function,
double* const* const parameter_blocks,
int num_parameter_blocks) {
return problem_impl_->AddResidualBlock(cost_function,
loss_function,
parameter_blocks,
num_parameter_blocks);
}
void Problem::AddParameterBlock(double* values, int size) {