commit 039ff07dd1a02e6c9cff335551f05bfe8269224b
author Sameer Agarwal <sameeragarwal@google.com> Tue Feb 26 09:15:39 2013 -0800
committer Gerrit Code Review <noreply-gerritcodereview@google.com> Wed Feb 27 05:38:28 2013 +0000
tree 1fda422fc71d23ba281e78918b0340e07c8a1d2d
parent c3fd3b960e489348d5b2c8b8f0167760e52ecbd9

Evaluate ResidualBlocks without LossFunction if needed.

1. Add the ability to evaluate the problem without loss function.
2. Remove static Evaluator::Evaluate
3. Refactor the common code from problem_test.cc and
   evaluator_test.cc into evaluator_test_utils.cc

Change-Id: I1aa841580afe91d288fbb65288b0ffdd1e43e827

internal/ceres/residual_block.cc

diff --git a/internal/ceres/residual_block.cc b/internal/ceres/residual_block.cc
index 7f78960..b91b0ed 100644
--- a/internal/ceres/residual_block.cc
+++ b/internal/ceres/residual_block.cc
@@ -62,7 +62,8 @@
             parameter_blocks_.get());
 }
 
-bool ResidualBlock::Evaluate(double* cost,
+bool ResidualBlock::Evaluate(const bool apply_loss_function,
+                             double* cost,
                              double* residuals,
                              double** jacobians,
                              double* scratch) const {
@@ -154,7 +155,7 @@
     }
   }
 
-  if (loss_function_ == NULL) {
+  if (loss_function_ == NULL || !apply_loss_function) {
     *cost = 0.5 * squared_norm;
     return true;
   }