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
This header defined integral types in the pre-C++11 days, and can
be replaced with <cstdint> and the types defined therein.
Also remove a shallow (and incorrect) typedef in include/ceres/types.h
https://github.com/ceres-solver/ceres-solver/issues/409
Change-Id: I398c652f74d24bbeea459672508bf28f591b100f
In the process also move some documentation from the file header to
just above the class declaration.
This change is in response to https://github.com/ceres-solver/ceres-solver/issues/233
Change-Id: I08cff1a94c57b67dd2bd8be4dba8c3fce46b68ab
1. Add answers to a number of FAQs.
2. Add a note to the documentation for NumericDiffCostFunction that
NumericDiffOptions needs to be documented and mentioned.
3. Update the docs for Solver::Options::numeric_derivative_relative_step_size
to indicate that this setting only applies to the gradient checker.
4. Remove deprecated constructors from NumericDiffCostFunction and
DynamicNumericDiffCostFunction.
Change-Id: If8fc011b2a5996dbc2c51268aa477550ed014a1c
This method numerically computes function derivatives in different
scales, extrapolating between intermediate results to conserve function
evaluations. Adaptive differentiation is essential to produce accurate
results for functions with noisy derivatives.
Full changelist:
-Created a new type of NumericDiffMethod (RIDDERS).
-Implemented EvaluateRiddersJacobianColumn in NumericDiff.
-Created unit tests with f(x) = x^2 + [random noise] and
f(x) = exp(x).
Change-Id: I2d6e924d7ff686650272f29a8c981351e6f72091
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
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
CostFunction now uses int32 instead of int16
to store the size of its parameter blocks.
This is an API breaking change.
Change-Id: I032ea583bc7ea4b3009be25d23a3be143749c73e
Move the GradientCheckingCostFunction to DynamicNumericDiffCostFunction.
Also fix a const correctness issue with DynamicNumericDiffCostFunction.
Change-Id: Id446810f43374e7b7db7fe4dd01a891e3c54abb9
- Earlier versions of Clang (up to at least v3.0) throw an ambiguous
operator= error in this assignment. Variations on this error have
cropped up occassionally in some other projects (e.g. PCL).
Change-Id: I73a632c43528eb69840ce697c55d9afc5f3d8e59
This brings the ability to have numerically differentiated
cost functions to be added with its structure decided on
runtime rather than compile time.
And some minor cleanups.
Two things still need to be done.
a. Update the modeling docs.
b. Remove RuntimeNumericDiffCostFunction in ceres::internal
and replace its usage with DynamicNumericDiffCostFunction.
Change-Id: Ib771f093f29236c95a99df31c584d579b8e36615
Johannes Beck