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Modernize ProductParameterization.

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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
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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_;