saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 16:40:38 +08:00
Code Issues Packages Projects Releases Wiki Activity

Modernize ProductParameterization.

Browse Source 
This CL modernizes ProductParameterization in the following ways:
- It uses std::unique_ptr for memory handling instead of using raw
  pointers and handmade memory management.
- Replaces the constructors with a variadic template.

Change-Id: I5c9fe42ac935b6c26e867dbd3369a4c766623047
This commit is contained in:
Johannes Beck
2019-04-19 13:36:37 +02:00
parent 53dc6213fa
commit fac46d50eb
2 changed files with 32 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/ceres/local_parameterization.h
+30 -18
View File
@@ -32,9 +32,11 @@
#ifndef CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
#define CERES_PUBLIC_LOCAL_PARAMETERIZATION_H_
#include <array>
#include <memory>
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/port.h"
namespace ceres {
@@ -269,9 +271,6 @@ class CERES_EXPORT HomogeneousVectorParameterization :
// manifolds. For example the parameters of a camera consist of a
// rotation and a translation, i.e., SO(3) x R^3.
//
// Currently this class supports taking the cartesian product of up to
// four local parameterizations.
//
// Example usage:
//
// ProductParameterization product_param(new QuaterionionParameterization(),
@@ -282,22 +281,37 @@ class CERES_EXPORT HomogeneousVectorParameterization :
class CERES_EXPORT ProductParameterization : public LocalParameterization {
public:
//
// NOTE: All the constructors take ownership of the input local
// NOTE: The constructor takes ownership of the input local
// parameterizations.
//
ProductParameterization(LocalParameterization* local_param1,
LocalParameterization* local_param2);
template <typename... LocalParams>
ProductParameterization(LocalParams*... local_params)
: local_params_(sizeof...(LocalParams)),
local_size_{0},
global_size_{0},
buffer_size_{0} {
constexpr int kNumLocalParams = sizeof...(LocalParams);
static_assert(kNumLocalParams >= 2,
"At least two local parameterizations must be specified.");
ProductParameterization(LocalParameterization* local_param1,
LocalParameterization* local_param2,
LocalParameterization* local_param3);
using LocalParameterizationPtr = std::unique_ptr<LocalParameterization>;
ProductParameterization(LocalParameterization* local_param1,
LocalParameterization* local_param2,
LocalParameterization* local_param3,
LocalParameterization* local_param4);
// Wrap all raw pointers into std::unique_ptr for exception safety.
std::array<LocalParameterizationPtr, kNumLocalParams> local_params_array{
LocalParameterizationPtr(local_params)...};
// Initialize internal state.
for (int i = 0; i < kNumLocalParams; ++i) {
LocalParameterizationPtr& param = local_params_[i];
param = std::move(local_params_array[i]);
buffer_size_ =
std::max(buffer_size_, param->LocalSize() * param->GlobalSize());
global_size_ += param->GlobalSize();
local_size_ += param->LocalSize();
}
}
virtual ~ProductParameterization();
virtual bool Plus(const double* x,
const double* delta,
double* x_plus_delta) const;
@@ -307,9 +321,7 @@ class CERES_EXPORT ProductParameterization : public LocalParameterization {
virtual int LocalSize() const { return local_size_; }
private:
void Init();
std::vector<LocalParameterization*> local_params_;
std::vector<std::unique_ptr<LocalParameterization>> local_params_;
int local_size_;
int global_size_;
int buffer_size_;
internal/ceres/local_parameterization.cc
+2 -53
View File
@@ -287,62 +287,12 @@ bool HomogeneousVectorParameterization::ComputeJacobian(
return true;
}
ProductParameterization::ProductParameterization(
LocalParameterization* local_param1,
LocalParameterization* local_param2) {
local_params_.push_back(local_param1);
local_params_.push_back(local_param2);
Init();
}
ProductParameterization::ProductParameterization(
LocalParameterization* local_param1,
LocalParameterization* local_param2,
LocalParameterization* local_param3) {
local_params_.push_back(local_param1);
local_params_.push_back(local_param2);
local_params_.push_back(local_param3);
Init();
}
ProductParameterization::ProductParameterization(
LocalParameterization* local_param1,
LocalParameterization* local_param2,
LocalParameterization* local_param3,
LocalParameterization* local_param4) {
local_params_.push_back(local_param1);
local_params_.push_back(local_param2);
local_params_.push_back(local_param3);
local_params_.push_back(local_param4);
Init();
}
ProductParameterization::~ProductParameterization() {
for (int i = 0; i < local_params_.size(); ++i) {
delete local_params_[i];
}
}
void ProductParameterization::Init() {
global_size_ = 0;
local_size_ = 0;
buffer_size_ = 0;
for (int i = 0; i < local_params_.size(); ++i) {
const LocalParameterization* param = local_params_[i];
buffer_size_ = std::max(buffer_size_,
param->LocalSize() * param->GlobalSize());
global_size_ += param->GlobalSize();
local_size_ += param->LocalSize();
}
}
bool ProductParameterization::Plus(const double* x,
const double* delta,
double* x_plus_delta) const {
int x_cursor = 0;
int delta_cursor = 0;
for (int i = 0; i < local_params_.size(); ++i) {
const LocalParameterization* param = local_params_[i];
for (const auto& param : local_params_) {
if (!param->Plus(x + x_cursor,
delta + delta_cursor,
x_plus_delta + x_cursor)) {
@@ -363,8 +313,7 @@ bool ProductParameterization::ComputeJacobian(const double* x,
int x_cursor = 0;
int delta_cursor = 0;
for (int i = 0; i < local_params_.size(); ++i) {
const LocalParameterization* param = local_params_[i];
for (const auto& param : local_params_) {
const int local_size = param->LocalSize();
const int global_size = param->GlobalSize();