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
Often a parameter block is the Cartesian product of a number of
manifolds. For example, a rigid transformation SE(3) = SO(3) x R^3
In such cases, where you have the local parameterization
of the individual manifolds available,
ProductParameterization can be used to construct a local
parameterization of the cartesian product.
Change-Id: I4b5bcbd2407a38739c7725b129789db5c3d65a20
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
- Previously AutoDiffLocalParameterization would internally instantiate
a functor instance whenever one was required. This prohibits the
user passing arguments to the constructor of the functor.
- Now AutoDiffLocalParameterization can take over ownership of an
allocated functor which the user created. This mimics the behaviour
of AutoDiffCostFunction.
Change-Id: I264e1face44ca5d5e71cc20c77cc7654d3f74cc0
This class is used to create local parameterization
with Jacobians computed via automatic differentiation.
To get an auto differentiated local parameterization,
class with a templated operator() (a functor) that
computes
plus_delta = Plus(x, delta);
shall be defined.
Then given such functor, the auto differentiated local
parameterization can be constructed as
LocalParameterization* local_parameterization =
new AutoDiffLocalParameterization<PlusFunctor, 4, 3>;
| |
Global Size ---------------+ |
Local Size -------------------+
See autodiff_local_parameterization.h for more information
and usage example.
Initial implementation by Keir Mierle, finished by self
and integrated into Ceres and covered with unit tests
by Sameer Agarwal.
Change-Id: I1b3e48ae89f81e0cf1f51416c5696e18223f4b21
Darius Rueckert