Problem::Evaluate implementation.
1. Add Problem::Evaluate and tests.
2. Remove Solver::Summary::initial/final_*
3. Remove Solver::Options::return_* members.
4. Various cpplint cleanups.
Change-Id: I4266de53489896f72d9c6798c5efde6748d68a47
diff --git a/include/ceres/cost_function_to_functor.h b/include/ceres/cost_function_to_functor.h
index 363ba12..b30ecd0 100644
--- a/include/ceres/cost_function_to_functor.h
+++ b/include/ceres/cost_function_to_functor.h
@@ -64,7 +64,8 @@
// struct CameraProjection {
// CameraProjection(double* observation) {
// intrinsic_projection_.reset(
-// new CostFunctionToFunctor<2, 5, 3>(new IntrinsicProjection(observation_)));
+// new CostFunctionToFunctor<2, 5, 3>(
+// new IntrinsicProjection(observation_)));
// }
// template <typename T>
// bool operator(const T* rotation,
@@ -78,7 +79,8 @@
// // Note that we call intrinsic_projection_, just like it was
// // any other templated functor.
//
-// return (*intrinsic_projection_)(intrinsics, transformed_point, residual); }
+// return (*intrinsic_projection_)(intrinsics, transformed_point, residual);
+// }
//
// private:
// scoped_ptr<CostFunctionToFunctor<2,5,3> > intrinsic_projection_;
@@ -102,11 +104,11 @@
int N5 = 0, int N6 = 0, int N7 = 0, int N8 = 0, int N9 = 0>
class CostFunctionToFunctor {
public:
- CostFunctionToFunctor(CostFunction* cost_function)
+ explicit CostFunctionToFunctor(CostFunction* cost_function)
: cost_function_(cost_function) {
CHECK_NOTNULL(cost_function);
- CHECK(kNumResiduals > 0);
+ CHECK_GE(kNumResiduals, 0);
CHECK_EQ(cost_function->num_residuals(), kNumResiduals);
// This block breaks the 80 column rule to keep it somewhat readable.
@@ -125,24 +127,26 @@
<< N3 << ", " << N4 << ", " << N5 << ", " << N6 << ", " << N7 << ", "
<< N8 << ", " << N9;
- const vector<int16>& parameter_block_sizes = cost_function->parameter_block_sizes();
+ const vector<int16>& parameter_block_sizes =
+ cost_function->parameter_block_sizes();
const int num_parameter_blocks =
(N0 > 0) + (N1 > 0) + (N2 > 0) + (N3 > 0) + (N4 > 0) +
(N5 > 0) + (N6 > 0) + (N7 > 0) + (N8 > 0) + (N9 > 0);
CHECK_EQ(parameter_block_sizes.size(), num_parameter_blocks);
CHECK_EQ(N0, parameter_block_sizes[0]);
- if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]);
- if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]);
- if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]);
- if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]);
- if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]);
- if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]);
- if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]);
- if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]);
- if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]);
+ if (parameter_block_sizes.size() > 1) CHECK_EQ(N1, parameter_block_sizes[1]); // NOLINT
+ if (parameter_block_sizes.size() > 2) CHECK_EQ(N2, parameter_block_sizes[2]); // NOLINT
+ if (parameter_block_sizes.size() > 3) CHECK_EQ(N3, parameter_block_sizes[3]); // NOLINT
+ if (parameter_block_sizes.size() > 4) CHECK_EQ(N4, parameter_block_sizes[4]); // NOLINT
+ if (parameter_block_sizes.size() > 5) CHECK_EQ(N5, parameter_block_sizes[5]); // NOLINT
+ if (parameter_block_sizes.size() > 6) CHECK_EQ(N6, parameter_block_sizes[6]); // NOLINT
+ if (parameter_block_sizes.size() > 7) CHECK_EQ(N7, parameter_block_sizes[7]); // NOLINT
+ if (parameter_block_sizes.size() > 8) CHECK_EQ(N8, parameter_block_sizes[8]); // NOLINT
+ if (parameter_block_sizes.size() > 9) CHECK_EQ(N9, parameter_block_sizes[9]); // NOLINT
- CHECK_EQ(accumulate(parameter_block_sizes.begin(), parameter_block_sizes.end(), 0),
+ CHECK_EQ(accumulate(parameter_block_sizes.begin(),
+ parameter_block_sizes.end(), 0),
N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9);
}
@@ -675,7 +679,8 @@
template <typename JetT>
bool EvaluateWithJets(const JetT** inputs, JetT* output) const {
const int kNumParameters = N0 + N1 + N2 + N3 + N4 + N5 + N6 + N7 + N8 + N9;
- const vector<int16>& parameter_block_sizes = cost_function_->parameter_block_sizes();
+ const vector<int16>& parameter_block_sizes =
+ cost_function_->parameter_block_sizes();
const int num_parameter_blocks = parameter_block_sizes.size();
const int num_residuals = cost_function_->num_residuals();
@@ -729,7 +734,8 @@
for (int j = 0; j < num_parameter_blocks; ++j) {
const int16 block_size = parameter_block_sizes[j];
for (int k = 0; k < parameter_block_sizes[j]; ++k) {
- output[i].v += jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
+ output[i].v +=
+ jacobian_blocks[j][i * block_size + k] * inputs[j][k].v;
}
}
}
