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/solver_impl.cc

diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 16fdbf6..0ef0a27 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -914,8 +914,11 @@
         // The residual is constant and will be removed, so its cost is
         // added to the variable fixed_cost.
         double cost = 0.0;
-        if (!residual_block->Evaluate(
-              &cost, NULL, NULL, residual_block_evaluate_scratch.get())) {
+        if (!residual_block->Evaluate(true,
+                                      &cost,
+                                      NULL,
+                                      NULL,
+                                      residual_block_evaluate_scratch.get())) {
           *error = StringPrintf("Evaluation of the residual %d failed during "
                                 "removal of fixed residual blocks.", i);
           return false;