Add ParameterBlock::IsSetConstantByUser()
Introduce IsSetConstantByUser method which indicates whether
the user set the parameter block constant or not.
Changed the definition of IsConstant() to indicate if the
parameter block is effectively constant or not, which is
now the uniion of two conditions - the user set it to be constant
or the local tangent space is of size zero. Currently
this change has no effect as we do not allow local parameterizations
with zero tangent space size, but thats an inconsistency we are
working on fixing.
A variety of code cleans up to parameter_block.h
1. Remove an old TODO comment which is not really actionable.
2. Remove Init() method.
3. NULL -> nullptr
4. memcpy -> std::copy
Change-Id: I12973ee0f053fa22f09908cf36e9aa57d9d8dd74
diff --git a/internal/ceres/parameter_block.h b/internal/ceres/parameter_block.h
index c074042..7f2a911 100644
--- a/internal/ceres/parameter_block.h
+++ b/internal/ceres/parameter_block.h
@@ -34,8 +34,8 @@
#include <algorithm>
#include <cstdint>
#include <cstdlib>
-#include <memory>
#include <limits>
+#include <memory>
#include <string>
#include <unordered_set>
#include "ceres/array_utils.h"
@@ -62,29 +62,28 @@
// responsible for the proper disposal of the local parameterization.
class ParameterBlock {
public:
- // TODO(keir): Decide what data structure is best here. Should this be a set?
- // Probably not, because sets are memory inefficient. However, if it's a
- // vector, you can get into pathological linear performance when removing a
- // residual block from a problem where all the residual blocks depend on one
- // parameter; for example, shared focal length in a bundle adjustment
- // problem. It might be worth making a custom structure that is just an array
- // when it is small, but transitions to a hash set when it has more elements.
- //
- // For now, use a hash set.
typedef std::unordered_set<ResidualBlock*> ResidualBlockSet;
// Create a parameter block with the user state, size, and index specified.
// The size is the size of the parameter block and the index is the position
// of the parameter block inside a Program (if any).
- ParameterBlock(double* user_state, int size, int index) {
- Init(user_state, size, index, NULL);
- }
+ ParameterBlock(double* user_state, int size, int index)
+ : user_state_(user_state),
+ state_(user_state),
+ size_(size),
+ index_(index) {}
ParameterBlock(double* user_state,
int size,
int index,
- LocalParameterization* local_parameterization) {
- Init(user_state, size, index, local_parameterization);
+ LocalParameterization* local_parameterization)
+ : user_state_(user_state),
+ state_(user_state),
+ size_(size),
+ index_(index) {
+ if (local_parameterization != nullptr) {
+ SetParameterization(local_parameterization);
+ }
}
// The size of the parameter block.
@@ -92,12 +91,10 @@
// Manipulate the parameter state.
bool SetState(const double* x) {
- CHECK(x != NULL)
- << "Tried to set the state of constant parameter "
- << "with user location " << user_state_;
- CHECK(!is_constant_)
- << "Tried to set the state of constant parameter "
- << "with user location " << user_state_;
+ CHECK(x != nullptr) << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
+ CHECK(!IsConstant()) << "Tried to set the state of constant parameter "
+ << "with user location " << user_state_;
state_ = x;
return UpdateLocalParameterizationJacobian();
@@ -106,9 +103,9 @@
// Copy the current parameter state out to x. This is "GetState()" rather than
// simply "state()" since it is actively copying the data into the passed
// pointer.
- void GetState(double *x) const {
+ void GetState(double* x) const {
if (x != state_) {
- memcpy(x, state_, sizeof(*state_) * size_);
+ std::copy(state_, state_ + size_, x);
}
}
@@ -116,7 +113,7 @@
const double* state() const { return state_; }
const double* user_state() const { return user_state_; }
double* mutable_user_state() { return user_state_; }
- LocalParameterization* local_parameterization() const {
+ const LocalParameterization* local_parameterization() const {
return local_parameterization_;
}
LocalParameterization* mutable_local_parameterization() {
@@ -124,9 +121,10 @@
}
// Set this parameter block to vary or not.
- void SetConstant() { is_constant_ = true; }
- void SetVarying() { is_constant_ = false; }
- bool IsConstant() const { return is_constant_; }
+ void SetConstant() { is_set_constant_ = true; }
+ void SetVarying() { is_set_constant_ = false; }
+ bool IsSetConstantByUser() const { return is_set_constant_; }
+ bool IsConstant() const { return (is_set_constant_ || LocalSize() == 0); }
double UpperBound(int index) const {
return (upper_bounds_ ? upper_bounds_[index]
@@ -155,7 +153,7 @@
// Methods relating to the parameter block's parameterization.
- // The local to global jacobian. Returns NULL if there is no local
+ // The local to global jacobian. Returns nullptr if there is no local
// parameterization for this parameter block. The returned matrix is row-major
// and has Size() rows and LocalSize() columns.
const double* LocalParameterizationJacobian() const {
@@ -163,24 +161,25 @@
}
int LocalSize() const {
- return (local_parameterization_ == NULL)
- ? size_
- : local_parameterization_->LocalSize();
+ return (local_parameterization_ == nullptr)
+ ? size_
+ : local_parameterization_->LocalSize();
}
// Set the parameterization. The parameterization can be set exactly once;
// multiple calls to set the parameterization to different values will crash.
- // It is an error to pass NULL for the parameterization. The parameter block
- // does not take ownership of the parameterization.
+ // It is an error to pass nullptr for the parameterization. The parameter
+ // block does not take ownership of the parameterization.
void SetParameterization(LocalParameterization* new_parameterization) {
- CHECK(new_parameterization != NULL) << "NULL parameterization invalid.";
+ CHECK(new_parameterization != nullptr)
+ << "nullptr parameterization invalid.";
// Nothing to do if the new parameterization is the same as the
// old parameterization.
if (new_parameterization == local_parameterization_) {
return;
}
- CHECK(local_parameterization_ == NULL)
+ CHECK(local_parameterization_ == nullptr)
<< "Can't re-set the local parameterization; it leads to "
<< "ambiguous ownership. Current local parameterization is: "
<< local_parameterization_;
@@ -192,8 +191,8 @@
<< "accidentally use the wrong parameter block or parameterization?";
CHECK_GT(new_parameterization->LocalSize(), 0)
- << "Invalid parameterization. Parameterizations must have a positive "
- << "dimensional tangent space.";
+ << "Invalid parameterization. Parameterizations must have a "
+ << "positive dimensional tangent space.";
local_parameterization_ = new_parameterization;
local_parameterization_jacobian_.reset(
@@ -241,24 +240,24 @@
// Generalization of the addition operation. This is the same as
// LocalParameterization::Plus() followed by projection onto the
// hyper cube implied by the bounds constraints.
- bool Plus(const double *x, const double* delta, double* x_plus_delta) {
- if (local_parameterization_ != NULL) {
+ bool Plus(const double* x, const double* delta, double* x_plus_delta) {
+ if (local_parameterization_ != nullptr) {
if (!local_parameterization_->Plus(x, delta, x_plus_delta)) {
return false;
}
} else {
- VectorRef(x_plus_delta, size_) = ConstVectorRef(x, size_) +
- ConstVectorRef(delta, size_);
+ VectorRef(x_plus_delta, size_) =
+ ConstVectorRef(x, size_) + ConstVectorRef(delta, size_);
}
// Project onto the box constraints.
- if (lower_bounds_.get() != NULL) {
+ if (lower_bounds_.get() != nullptr) {
for (int i = 0; i < size_; ++i) {
x_plus_delta[i] = std::max(x_plus_delta[i], lower_bounds_[i]);
}
}
- if (upper_bounds_.get() != NULL) {
+ if (upper_bounds_.get() != nullptr) {
for (int i = 0; i < size_; ++i) {
x_plus_delta[i] = std::min(x_plus_delta[i], upper_bounds_[i]);
}
@@ -268,35 +267,36 @@
}
std::string ToString() const {
- return StringPrintf("{ this=%p, user_state=%p, state=%p, size=%d, "
- "constant=%d, index=%d, state_offset=%d, "
- "delta_offset=%d }",
- this,
- user_state_,
- state_,
- size_,
- is_constant_,
- index_,
- state_offset_,
- delta_offset_);
+ return StringPrintf(
+ "{ this=%p, user_state=%p, state=%p, size=%d, "
+ "constant=%d, index=%d, state_offset=%d, "
+ "delta_offset=%d }",
+ this,
+ user_state_,
+ state_,
+ size_,
+ is_set_constant_,
+ index_,
+ state_offset_,
+ delta_offset_);
}
void EnableResidualBlockDependencies() {
- CHECK(residual_blocks_.get() == NULL)
+ CHECK(residual_blocks_.get() == nullptr)
<< "Ceres bug: There is already a residual block collection "
<< "for parameter block: " << ToString();
residual_blocks_.reset(new ResidualBlockSet);
}
void AddResidualBlock(ResidualBlock* residual_block) {
- CHECK(residual_blocks_.get() != NULL)
+ CHECK(residual_blocks_.get() != nullptr)
<< "Ceres bug: The residual block collection is null for parameter "
<< "block: " << ToString();
residual_blocks_->insert(residual_block);
}
void RemoveResidualBlock(ResidualBlock* residual_block) {
- CHECK(residual_blocks_.get() != NULL)
+ CHECK(residual_blocks_.get() != nullptr)
<< "Ceres bug: The residual block collection is null for parameter "
<< "block: " << ToString();
CHECK(residual_blocks_->find(residual_block) != residual_blocks_->end())
@@ -306,12 +306,10 @@
// This is only intended for iterating; perhaps this should only expose
// .begin() and .end().
- ResidualBlockSet* mutable_residual_blocks() {
- return residual_blocks_.get();
- }
+ ResidualBlockSet* mutable_residual_blocks() { return residual_blocks_.get(); }
double LowerBoundForParameter(int index) const {
- if (lower_bounds_.get() == NULL) {
+ if (lower_bounds_.get() == nullptr) {
return -std::numeric_limits<double>::max();
} else {
return lower_bounds_[index];
@@ -319,7 +317,7 @@
}
double UpperBoundForParameter(int index) const {
- if (upper_bounds_.get() == NULL) {
+ if (upper_bounds_.get() == nullptr) {
return std::numeric_limits<double>::max();
} else {
return upper_bounds_[index];
@@ -327,27 +325,8 @@
}
private:
- void Init(double* user_state,
- int size,
- int index,
- LocalParameterization* local_parameterization) {
- user_state_ = user_state;
- size_ = size;
- index_ = index;
- is_constant_ = false;
- state_ = user_state_;
-
- local_parameterization_ = NULL;
- if (local_parameterization != NULL) {
- SetParameterization(local_parameterization);
- }
-
- state_offset_ = -1;
- delta_offset_ = -1;
- }
-
bool UpdateLocalParameterizationJacobian() {
- if (local_parameterization_ == NULL) {
+ if (local_parameterization_ == nullptr) {
return true;
}
@@ -356,13 +335,12 @@
// at that time.
const int jacobian_size = Size() * LocalSize();
- InvalidateArray(jacobian_size,
- local_parameterization_jacobian_.get());
+ InvalidateArray(jacobian_size, local_parameterization_jacobian_.get());
if (!local_parameterization_->ComputeJacobian(
- state_,
- local_parameterization_jacobian_.get())) {
+ state_, local_parameterization_jacobian_.get())) {
LOG(WARNING) << "Local parameterization Jacobian computation failed"
- "for x: " << ConstVectorRef(state_, Size()).transpose();
+ "for x: "
+ << ConstVectorRef(state_, Size()).transpose();
return false;
}
@@ -379,27 +357,27 @@
return true;
}
- double* user_state_;
- int size_;
- bool is_constant_;
- LocalParameterization* local_parameterization_;
+ double* user_state_ = nullptr;
+ int size_ = -1;
+ bool is_set_constant_ = false;
+ LocalParameterization* local_parameterization_ = nullptr;
// The "state" of the parameter. These fields are only needed while the
// solver is running. While at first glance using mutable is a bad idea, this
// ends up simplifying the internals of Ceres enough to justify the potential
// pitfalls of using "mutable."
- mutable const double* state_;
+ mutable const double* state_ = nullptr;
mutable std::unique_ptr<double[]> local_parameterization_jacobian_;
// The index of the parameter. This is used by various other parts of Ceres to
// permit switching from a ParameterBlock* to an index in another array.
- int32_t index_;
+ int32_t index_ = -1;
// The offset of this parameter block inside a larger state vector.
- int32_t state_offset_;
+ int32_t state_offset_ = -1;
// The offset of this parameter block inside a larger delta vector.
- int32_t delta_offset_;
+ int32_t delta_offset_ = -1;
// If non-null, contains the residual blocks this parameter block is in.
std::unique_ptr<ResidualBlockSet> residual_blocks_;
diff --git a/internal/ceres/parameter_block_test.cc b/internal/ceres/parameter_block_test.cc
index 164bb4c..e33db48 100644
--- a/internal/ceres/parameter_block_test.cc
+++ b/internal/ceres/parameter_block_test.cc
@@ -63,7 +63,7 @@
indices.push_back(1);
SubsetParameterization subset(3, indices);
parameter_block.SetParameterization(&subset);
- EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(nullptr), "nullptr");
}
TEST(ParameterBlock,
@@ -84,7 +84,7 @@
ParameterBlock parameter_block(x, 3, -1);
std::vector<int> indices;
indices.push_back(1);
- EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(NULL), "NULL");
+ EXPECT_DEATH_IF_SUPPORTED(parameter_block.SetParameterization(nullptr), "nullptr");
}
TEST(ParameterBlock, SetParameterizationDiesOnZeroLocalSize) {
@@ -210,7 +210,7 @@
TEST(ParameterBlock, DefaultBounds) {
double x[2];
- ParameterBlock parameter_block(x, 2, -1, NULL);
+ ParameterBlock parameter_block(x, 2, -1, nullptr);
EXPECT_EQ(parameter_block.UpperBoundForParameter(0),
std::numeric_limits<double>::max());
EXPECT_EQ(parameter_block.UpperBoundForParameter(1),
@@ -223,7 +223,7 @@
TEST(ParameterBlock, SetBounds) {
double x[2];
- ParameterBlock parameter_block(x, 2, -1, NULL);
+ ParameterBlock parameter_block(x, 2, -1, nullptr);
parameter_block.SetLowerBound(0, 1);
parameter_block.SetUpperBound(1, 1);
@@ -239,7 +239,7 @@
TEST(ParameterBlock, PlusWithBoundsConstraints) {
double x[] = {1.0, 0.0};
double delta[] = {2.0, -10.0};
- ParameterBlock parameter_block(x, 2, -1, NULL);
+ ParameterBlock parameter_block(x, 2, -1, nullptr);
parameter_block.SetUpperBound(0, 2.0);
parameter_block.SetLowerBound(1, -1.0);
double x_plus_delta[2];
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
index 6fd6f7b..00cd2fd 100644
--- a/internal/ceres/problem_impl.cc
+++ b/internal/ceres/problem_impl.cc
@@ -649,7 +649,7 @@
<< "Parameter block not found: " << values << ". You must add the "
<< "parameter block to the problem before it can be queried.";
- return parameter_block->IsConstant();
+ return parameter_block->IsSetConstantByUser();
}
void ProblemImpl::SetParameterBlockVariable(double* values) {
