- Add constructors taking std::unique_ptr and ceres::Ownership to
AutoDiffCostFunction, NumericDiffCostFunction, and their dynamic
and first-order counterparts.
- Standardize delegating constructor style to use parentheses.
- Standardize ownership check in destructors.
- Fix documentation typos and example code in headers.
- Add comprehensive tests for Ownership and unique_ptr constructors.
Change-Id: I573abd695cdd89905997b573620e8d99d1cacca2
Modernize the construction and initialization logic of AutoDiffCostFunction,
NumericDiffCostFunction, AutoDiffFirstOrderFunction,
NumericDiffFirstOrderFunction, DynamicAutoDiffCostFunction,
DynamicNumericDiffCostFunction, and CostFunctionToFunctor by utilizing
C++17 features:
- Simplify constructor delegation using if constexpr, removing the need for
internal InitTag structures.
- Use std::is_constructible_v for cleaner SFINAE in variadic constructors.
- Add static_assert to catch improper usage of DYNAMIC residuals/parameters
at compile-time.
- Add Ownership support to AutoDiffFirstOrderFunction,
DynamicAutoDiffCostFunction, and DynamicNumericDiffCostFunction.
- Simplify CostFunctionToFunctor::operator() using variadic parameter packs.
- Use this->num_residuals() for consistent and clear access to base class
state.
- Minor code quality improvements and removal of redundant template
parameters.
Change-Id: Id760a26ba2ceca4fb2939ef7632f2f1d9cc430c9
If arguments are passed to a cost function that can be used to construct
the functor, the latter will be instantiated by the cost function using
std::make_unique to ensure exception safety. This not only avoids static
analysis warnings caused by calling new but also spelling the cost
functor type name multiple times.
Also expand deduction guides for instantiating
Dynamic(Auto|Numeric)DiffCostFunction from std::unique_ptr enabled
constructor overloads.
Finally, make CostFunction default move constructible and assignable but
only through derived classes. This in turn allows derived classes to be
movable without relying on custom implementations of corresponding
operators.
Change-Id: Idee8b9871d862bc9f9f8b5a8d0bedc52863e93c0
1. Add a version history
2. Update copyright years across the code base
3. Run format_all.sh
4. Update version strings from 2.1.0 to 2.2.0 in the docs and
elsewhere.
Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
- The intended use-case for these accessors is in client code tests to
support verification of the configuration with which cost functions
were constructed.
Change-Id: Ib77afa6409804ba7f724138f579e0c51b154f5ad
1. Add a move constructor to NumericDiffCostFunction, DynamicAutoDiffCostfunction
and DynamicNumericDiffCostFunction.
2. Add optional ownership of the underlying functor.
3. Update docs to reflect this as well as the variadic templates that allow an
arbitrary number of parameter blocks.
Change-Id: I57bbb51fb9e75f36ec2a661b603beda270f30a19
Add Ownership semantics to the AutoDiffCostFunction
This allows several benefits, such as pointer ordering always being the
same for numerical repeatability (due to blocks being ordered by
pointer address), memory adjacency for better cache performance, and
reduced allocator pressure / overhead.
This is then made use of in libmv by preallocating the errors and
cost functions into vectors
Change-Id: Ia5b97e7249b55a463264b6e26f7a02291927c9f2
Fix typos in docs/source/features.rst and examples/helloworld.cc. Alter a NULL to nullptr in include/ceres/autodiff_cost_function.h
Change-Id: Ibcf00b6ef665ad6be9af14b3add2dd4f3852e7e6
The compile-time constant kNumResiduals is now passed to the
autodiff functions as a template parameter. This will be used
by future patches to optimize autodiff performance.
Change-Id: Ia2b2cc99b88752e8f12f4ce2542b1963bda552f5
Now that we are using c++11, it is safer to use override in subclasses
instead of virtual.
This CL does it for the interface, a follow up CL will do it for
other parts of the code base.
Change-Id: Ice8d0f4355cb700019d7a9c1566fbff0099e97d6
This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.
Trailing parameter blocks of size zero are now considered as error.
Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
1. Fix a typo in auto_diff_cost_function.h
2. Fix and update Solver::Summary::FullReport() text labels.
3. Add logging of the number of residual and jacobian evaluations
to the full report. The GradientProblemSolver already does this.
Change-Id: I41059af5f0ebe0417accbbc30b0808a4b04b9edb
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
1. Update AutoDiffCostFunction template parameters to be consistent
with NumericDiffCostFunction.
2. Update the documentation for NumericDiffCostFunction and
AutoDiffCostFunction.
Change-Id: I113038abb5bedebb0f6f326f2a4ac31480d785fc
The interface for NumericDiffCostFunction and AutoDiffCostFunction
are not comparable. They both accept variadic functors.
The change is backward compatible, as it still supports numeric
differentiation of CostFunction objects.
Some refactoring of documentation and code in auto_diff_cost_function
and its relatives was also done to make things consistent.
Change-Id: Ib5f230a1d4a85738eb187803b9c1cd7166bb3b92
Supporting only 6 parameters in autodiff was enough for most
cases, but 6 was not always sufficient. This extends the
current implementation to work with up to 10 parameters.
This also increases the number of parameters supported in
SizedCostFunction to 10.
Change-Id: Ic783602f93e6ddf4af24fa34eff37c0a4b775dc1
This commit modifies the only function in autodiff that takes a
templated number of outputs (i.e. residuals) and makes that
template parameter a normal parameter. With that change, it
is a trivial matter to support a dynamic number of residuals.
The API for dynamic residuals is to pass a fake number of
residuals as the second template argument to
AutoDiffCostFunction, and to pass the real number of
parameters as a second constructor argument.
Sameer Agarwal