Improve readability of LocalParameterization code.
A variety of small cleanups to the local parameterization
implementation and tests to improve readability.
Change-Id: I5457206129cb3c301999d2f88912ba8300a2c934
diff --git a/internal/ceres/local_parameterization.cc b/internal/ceres/local_parameterization.cc
index a6bf1f6..a7fe4a1 100644
--- a/internal/ceres/local_parameterization.cc
+++ b/internal/ceres/local_parameterization.cc
@@ -49,6 +49,10 @@
const int num_rows,
const double* global_matrix,
double* local_matrix) const {
+ if (LocalSize() == 0) {
+ return true;
+ }
+
Matrix jacobian(GlobalSize(), LocalSize());
if (!ComputeJacobian(x, jacobian.data())) {
return false;
@@ -74,7 +78,7 @@
bool IdentityParameterization::ComputeJacobian(const double* x,
double* jacobian) const {
- MatrixRef(jacobian, size_, size_) = Matrix::Identity(size_, size_);
+ MatrixRef(jacobian, size_, size_).setIdentity();
return true;
}
@@ -93,8 +97,8 @@
: local_size_(size - constant_parameters.size()), constancy_mask_(size, 0) {
vector<int> constant = constant_parameters;
std::sort(constant.begin(), constant.end());
- CHECK_GE(constant.front(), 0)
- << "Indices indicating constant parameter must be greater than zero.";
+ CHECK_GE(constant.front(), 0) << "Indices indicating constant parameter must "
+ "be greater than equal to zero.";
CHECK_LT(constant.back(), size)
<< "Indices indicating constant parameter must be less than the size "
<< "of the parameter block.";
@@ -108,7 +112,8 @@
bool SubsetParameterization::Plus(const double* x,
const double* delta,
double* x_plus_delta) const {
- for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ const int global_size = GlobalSize();
+ for (int i = 0, j = 0; i < global_size; ++i) {
if (constancy_mask_[i]) {
x_plus_delta[i] = x[i];
} else {
@@ -124,9 +129,10 @@
return true;
}
- MatrixRef m(jacobian, constancy_mask_.size(), local_size_);
+ const int global_size = GlobalSize();
+ MatrixRef m(jacobian, global_size, local_size_);
m.setZero();
- for (int i = 0, j = 0; i < constancy_mask_.size(); ++i) {
+ for (int i = 0, j = 0; i < global_size; ++i) {
if (!constancy_mask_[i]) {
m(i, j++) = 1.0;
}
@@ -142,11 +148,12 @@
return true;
}
+ const int global_size = GlobalSize();
for (int row = 0; row < num_rows; ++row) {
- for (int col = 0, j = 0; col < constancy_mask_.size(); ++col) {
+ for (int col = 0, j = 0; col < global_size; ++col) {
if (!constancy_mask_[col]) {
- local_matrix[row * LocalSize() + j++] =
- global_matrix[row * GlobalSize() + col];
+ local_matrix[row * local_size_ + j++] =
+ global_matrix[row * global_size + col];
}
}
}
diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index 851f99c..a7833d8 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc
@@ -82,7 +82,7 @@
constant_parameters.push_back(-1);
EXPECT_DEATH_IF_SUPPORTED(
SubsetParameterization parameterization(2, constant_parameters),
- "greater than zero");
+ "greater than equal to zero");
}
TEST(SubsetParameterization, GreaterThanSizeParameterIndexDeathTest) {
