Return jacobians and gradients to the user.
1. Added CRSMatrix object which will store the initial
and final jacobians if requested by the user.
2. Conversion routine and test for converting a
CompressedRowSparseMatrix to CRSMatrix.
3. New Evaluator::Evaluate function to do the actual evaluation.
4. Changes to Program::StateVectorToParmeterBlocks and
Program::SetParameterBlockStatePtrstoUserStatePtrs so that
they do not try to set the state of constant parameter blocks.
5. Tests for Evaluator::Evaluate.
6. Minor cleanups in SolverImpl.
7. Minor cpplint cleanups triggered by this CL.
Change-Id: I3ac446484692f943c28f2723b719676f8c83ca3d
diff --git a/internal/ceres/program.cc b/internal/ceres/program.cc
index f6704e4..4dfb3a1 100644
--- a/internal/ceres/program.cc
+++ b/internal/ceres/program.cc
@@ -32,14 +32,18 @@
#include <map>
#include <vector>
+#include "ceres/casts.h"
+#include "ceres/compressed_row_sparse_matrix.h"
+#include "ceres/cost_function.h"
+#include "ceres/evaluator.h"
+#include "ceres/internal/port.h"
+#include "ceres/local_parameterization.h"
+#include "ceres/loss_function.h"
+#include "ceres/map_util.h"
#include "ceres/parameter_block.h"
+#include "ceres/problem.h"
#include "ceres/residual_block.h"
#include "ceres/stl_util.h"
-#include "ceres/map_util.h"
-#include "ceres/problem.h"
-#include "ceres/cost_function.h"
-#include "ceres/loss_function.h"
-#include "ceres/local_parameterization.h"
namespace ceres {
namespace internal {
@@ -69,7 +73,8 @@
bool Program::StateVectorToParameterBlocks(const double *state) {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
- if (!parameter_blocks_[i]->SetState(state)) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(state)) {
return false;
}
state += parameter_blocks_[i]->Size();
@@ -92,7 +97,8 @@
bool Program::SetParameterBlockStatePtrsToUserStatePtrs() {
for (int i = 0; i < parameter_blocks_.size(); ++i) {
- if (!parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
+ if (!parameter_blocks_[i]->IsConstant() &&
+ !parameter_blocks_[i]->SetState(parameter_blocks_[i]->user_state())) {
return false;
}
}
@@ -210,41 +216,5 @@
return max_residuals;
}
-bool Program::Evaluate(double* cost, double* residuals) {
- *cost = 0.0;
-
- // Scratch space is only needed if residuals is NULL.
- scoped_array<double> scratch;
- if (residuals == NULL) {
- scratch.reset(new double[MaxScratchDoublesNeededForEvaluate()]);
- } else {
- // TODO(keir): Is this needed? Check by removing the equivalent statement in
- // dense_evaluator.cc and running the tests.
- VectorRef(residuals, NumResiduals()).setZero();
- }
-
- for (int i = 0; i < residual_blocks_.size(); ++i) {
- ResidualBlock* residual_block = residual_blocks_[i];
-
- // Evaluate the cost function for this residual.
- double residual_cost;
- if (!residual_block->Evaluate(&residual_cost,
- residuals,
- NULL, // No jacobian.
- scratch.get())) {
- return false;
- }
-
- // Accumulate residual cost into the total cost.
- *cost += residual_cost;
-
- // Update the residuals cursor.
- if (residuals != NULL) {
- residuals += residual_block->NumResiduals();
- }
- }
- return true;
-}
-
} // namespace internal
} // namespace ceres
