mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sergiu Deitsch
f90833f5fa
Currently, the logic for exporting symbols is rather complicated: when tests are enabled internal symbols are exported in addition to the public symbols. Such logic causes several problems. (1) Test binaries link against a Ceres build that is different from the final release since fewer optimizations are applied if more symbols are exported. (2) Also, some toolchains hide symbols by default breaking the existing logic eventually causing linker errors. Since internal symbols are not intended to be used outside of the project, we can compile them into object files and use exactly the same binary code both for the final build and the tests without relying on conditionals. By default, all symbols are now hidden unless annotated as public. Internal symbols are explicitly marked as not being exported in case users chose not to hide symbols by default. Change-Id: I589dd10be2f6f438508783cf99d141af0120057b
107 lines
4.1 KiB
C++
107 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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#include <map>
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#include <memory>
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#include <string>
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#include "ceres/evaluator.h"
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#include "ceres/execution_summary.h"
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#include "ceres/gradient_problem.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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#include "ceres/sparse_matrix.h"
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#include "ceres/wall_time.h"
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namespace ceres {
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namespace internal {
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class CERES_NO_EXPORT GradientProblemEvaluator : public Evaluator {
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public:
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explicit GradientProblemEvaluator(const GradientProblem& problem)
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: problem_(problem) {}
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std::unique_ptr<SparseMatrix> CreateJacobian() const final { return nullptr; }
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bool Evaluate(const EvaluateOptions& evaluate_options,
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const double* state,
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double* cost,
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double* residuals,
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double* gradient,
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SparseMatrix* jacobian) final {
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CHECK(jacobian == nullptr);
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ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
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// The reason we use Residual and Jacobian here even when we are
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// only computing the cost and gradient has to do with the fact
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// that the line search minimizer code is used by both the
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// GradientProblemSolver and the main CeresSolver coder where the
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// Evaluator evaluates the Jacobian, and these magic strings need
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// to be consistent across the code base for the time accounting
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// to work.
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ScopedExecutionTimer call_type_timer(
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gradient == nullptr ? "Evaluator::Residual" : "Evaluator::Jacobian",
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&execution_summary_);
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return problem_.Evaluate(state, cost, gradient);
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}
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bool Plus(const double* state,
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const double* delta,
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double* state_plus_delta) const final {
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return problem_.Plus(state, delta, state_plus_delta);
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}
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int NumParameters() const final { return problem_.NumParameters(); }
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int NumEffectiveParameters() const final {
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return problem_.NumLocalParameters();
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}
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int NumResiduals() const final { return 1; }
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std::map<std::string, internal::CallStatistics> Statistics() const final {
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return execution_summary_.statistics();
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}
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private:
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const GradientProblem& problem_;
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::ceres::internal::ExecutionSummary execution_summary_;
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};
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} // namespace internal
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} // namespace ceres
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
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