Check validity of residual block before removal in RemoveResidualBlock.
- Breaking change: Problem::Options::enable_fast_parameter_block_removal
is now Problem::Options::enable_fast_removal, as it now controls
the behaviour for both parameter and residual blocks.
- Previously we did not check that the specified residual block to
remove in RemoveResidualBlock actually represented a valid residual
for the problem.
- This meant that Ceres would die unexpectedly if the user passed an
uninitialised residual_block, or more likely attempted to remove a
residual block that had already been removed automatically after
the user removed a parameter block upon on which it was dependent.
- RemoveResidualBlock now verifies the validity of the given
residual_block to remove. Either by checking against a hash set of
all residuals maintained in ProblemImpl iff enable_fast_removal
is enabled. Or by a full scan of the residual blocks if not.
Change-Id: I9ab178e2f68a74135f0a8e20905b16405c77a62b
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
index 75bdc2b..e846c03 100644
--- a/internal/ceres/problem_impl.h
+++ b/internal/ceres/problem_impl.h
@@ -45,6 +45,7 @@
#include "ceres/internal/macros.h"
#include "ceres/internal/port.h"
#include "ceres/internal/scoped_ptr.h"
+#include "ceres/collections_port.h"
#include "ceres/problem.h"
#include "ceres/types.h"
@@ -63,6 +64,7 @@
class ProblemImpl {
public:
typedef map<double*, ParameterBlock*> ParameterMap;
+ typedef HashSet<ResidualBlock*> ResidualBlockSet;
ProblemImpl();
explicit ProblemImpl(const Problem::Options& options);
@@ -160,9 +162,15 @@
Program* mutable_program() { return program_.get(); }
const ParameterMap& parameter_map() const { return parameter_block_map_; }
+ const ResidualBlockSet& residual_block_set() const {
+ CHECK(options_.enable_fast_removal)
+ << "Fast removal not enabled, residual_block_set is not maintained.";
+ return residual_block_set_;
+ }
private:
ParameterBlock* InternalAddParameterBlock(double* values, int size);
+ void InternalRemoveResidualBlock(ResidualBlock* residual_block);
bool InternalEvaluate(Program* program,
double* cost,
@@ -184,6 +192,9 @@
// The mapping from user pointers to parameter blocks.
map<double*, ParameterBlock*> parameter_block_map_;
+ // Iff enable_fast_removal is enabled, contains the current residual blocks.
+ ResidualBlockSet residual_block_set_;
+
// The actual parameter and residual blocks.
internal::scoped_ptr<internal::Program> program_;
