internal/ceres/problem_impl.cc - ceres-solver - Git at Google

 // Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
 // http://code.google.com/p/ceres-solver/
 //
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
 //
 // * Redistributions of source code must retain the above copyright notice,
 //   this list of conditions and the following disclaimer.
 // * Redistributions in binary form must reproduce the above copyright notice,
 //   this list of conditions and the following disclaimer in the documentation
 //   and/or other materials provided with the distribution.
 // * Neither the name of Google Inc. nor the names of its contributors may be
 //   used to endorse or promote products derived from this software without
 //   specific prior written permission.
 //
 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 //
 // Author: sameeragarwal@google.com (Sameer Agarwal)
 //         keir@google.com (Keir Mierle)

 #include "ceres/problem_impl.h"

 #include <algorithm>
 #include <cstddef>
 #include <set>
 #include <string>
 #include <utility>
 #include <vector>

 #include <glog/logging.h>
 #include "ceres/parameter_block.h"
 #include "ceres/program.h"
 #include "ceres/residual_block.h"
 #include "ceres/stl_util.h"
 #include "ceres/map_util.h"
 #include "ceres/stringprintf.h"
 #include "ceres/cost_function.h"
 #include "ceres/loss_function.h"

 namespace ceres {
 namespace internal {

 typedef map<double*, internal::ParameterBlock*> ParameterMap;

 // Returns true if two regions of memory, a and b, with sizes size_a and size_b
 // respectively, overlap.
 static bool RegionsAlias(const double* a, int size_a,
                          const double* b, int size_b) {
   return (a < b) ? b < (a + size_a)
                  : a < (b + size_b);
 }

 static void CheckForNoAliasing(double* existing_block,
                                int existing_block_size,
                                double* new_block,
                                int new_block_size) {
   CHECK(!RegionsAlias(existing_block, existing_block_size,
                       new_block, new_block_size))
       << "Aliasing detected between existing parameter block at memory "
       << "location " << existing_block
       << " and has size " << existing_block_size << " with new parameter "
       << "block that has memory adderss " << new_block << " and would have "
       << "size " << new_block_size << ".";
 }

 static ParameterBlock* InternalAddParameterBlock(
     double* values,
     int size,
     ParameterMap* parameter_map,
     vector<ParameterBlock*>* parameter_blocks) {
   CHECK(values) << "Null pointer passed to AddParameterBlock for a parameter "
                 << "with size " << size;

   // Ignore the request if there is a block for the given pointer already.
   ParameterMap::iterator it = parameter_map->find(values);
   if (it != parameter_map->end()) {
     int existing_size = it->second->Size();
     CHECK(size == existing_size)
         << "Tried adding a parameter block with the same double pointer, "
         << values << ", twice, but with different block sizes. Original "
         << "size was " << existing_size << " but new size is "
         << size;
     return it->second;
   }
   // Before adding the parameter block, also check that it doesn't alias any
   // other parameter blocks.
   if (!parameter_map->empty()) {
     ParameterMap::iterator lb = parameter_map->lower_bound(values);

     // If lb is not the first block, check the previous block for aliasing.
     if (lb != parameter_map->begin()) {
       ParameterMap::iterator previous = lb;
       --previous;
       CheckForNoAliasing(previous->first,
                          previous->second->Size(),
                          values,
                          size);
     }

     // If lb is not off the end, check lb for aliasing.
     if (lb != parameter_map->end()) {
       CheckForNoAliasing(lb->first,
                          lb->second->Size(),
                          values,
                          size);
     }
   }
   ParameterBlock* new_parameter_block = new ParameterBlock(values, size);
   (*parameter_map)[values] = new_parameter_block;
   parameter_blocks->push_back(new_parameter_block);
   return new_parameter_block;
 }

 ProblemImpl::ProblemImpl() : program_(new internal::Program) {}
 ProblemImpl::ProblemImpl(const Problem::Options& options)
     : options_(options),
       program_(new internal::Program) {}

 ProblemImpl::~ProblemImpl() {
   // Collect the unique cost/loss functions and delete the residuals.
   set<CostFunction*> cost_functions;
   set<LossFunction*> loss_functions;
   for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
     ResidualBlock* residual_block = program_->residual_blocks_[i];

     // The const casts here are legit, since ResidualBlock holds these
     // pointers as const pointers but we have ownership of them and
     // have the right to destroy them when the destructor is called.
     if (options_.cost_function_ownership == TAKE_OWNERSHIP) {
       cost_functions.insert(
           const_cast<CostFunction*>(residual_block->cost_function()));
     }
     if (options_.loss_function_ownership == TAKE_OWNERSHIP) {
       loss_functions.insert(
           const_cast<LossFunction*>(residual_block->loss_function()));
     }

     delete residual_block;
   }

   // Collect the unique parameterizations and delete the parameters.
   set<LocalParameterization*> local_parameterizations;
   for (int i = 0; i < program_->parameter_blocks_.size(); ++i) {
     ParameterBlock* parameter_block = program_->parameter_blocks_[i];

     if (options_.local_parameterization_ownership == TAKE_OWNERSHIP) {
       local_parameterizations.insert(parameter_block->local_parameterization_);
     }

     delete parameter_block;
   }

   // Delete the owned cost/loss functions and parameterizations.
   STLDeleteContainerPointers(local_parameterizations.begin(),
                              local_parameterizations.end());
   STLDeleteContainerPointers(cost_functions.begin(),
                              cost_functions.end());
   STLDeleteContainerPointers(loss_functions.begin(),
                              loss_functions.end());
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     const vector<double*>& parameter_blocks) {
   CHECK_NOTNULL(cost_function);
   CHECK_EQ(parameter_blocks.size(),
            cost_function->parameter_block_sizes().size());

   // Check the sizes match.
   const vector<int16>& parameter_block_sizes =
       cost_function->parameter_block_sizes();
   CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size())
       << "Number of blocks input is different than the number of blocks "
       << "that the cost function expects.";

   // Check for duplicate parameter blocks.
   vector<double*> sorted_parameter_blocks(parameter_blocks);
   sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end());
   vector<double*>::const_iterator duplicate_items =
       unique(sorted_parameter_blocks.begin(),
              sorted_parameter_blocks.end());
   if (duplicate_items != sorted_parameter_blocks.end()) {
     string blocks;
     for (int i = 0; i < parameter_blocks.size(); ++i) {
       blocks += internal::StringPrintf(" %p ", parameter_blocks[i]);
     }

     LOG(FATAL) << "Duplicate parameter blocks in a residual parameter "
                << "are not allowed. Parameter block pointers: ["
                << blocks << "]";
   }

   // Add parameter blocks and convert the double*'s to parameter blocks.
   vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size());
   for (int i = 0; i < parameter_blocks.size(); ++i) {
     parameter_block_ptrs[i] =
         InternalAddParameterBlock(parameter_blocks[i],
                                   parameter_block_sizes[i],
                                   &parameter_block_map_,
                                   &program_->parameter_blocks_);
   }

   // Check that the block sizes match the block sizes expected by the
   // cost_function.
   for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
     CHECK_EQ(cost_function->parameter_block_sizes()[i],
              parameter_block_ptrs[i]->Size())
         << "The cost function expects parameter block " << i
         << " of size " << cost_function->parameter_block_sizes()[i]
         << " but was given a block of size "
         << parameter_block_ptrs[i]->Size();
   }

   ResidualBlock* new_residual_block =
       new ResidualBlock(cost_function,
                         loss_function,
                         parameter_block_ptrs);
   program_->residual_blocks_.push_back(new_residual_block);
   return new_residual_block;
 }

 // Unfortunately, macros don't help much to reduce this code, and var args don't
 // work because of the ambiguous case that there is no loss function.
 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0, double* x1) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   residual_parameters.push_back(x1);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0, double* x1, double* x2) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   residual_parameters.push_back(x1);
   residual_parameters.push_back(x2);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0, double* x1, double* x2, double* x3) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   residual_parameters.push_back(x1);
   residual_parameters.push_back(x2);
   residual_parameters.push_back(x3);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0, double* x1, double* x2, double* x3, double* x4) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   residual_parameters.push_back(x1);
   residual_parameters.push_back(x2);
   residual_parameters.push_back(x3);
   residual_parameters.push_back(x4);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }

 const ResidualBlock* ProblemImpl::AddResidualBlock(
     CostFunction* cost_function,
     LossFunction* loss_function,
     double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
   vector<double*> residual_parameters;
   residual_parameters.push_back(x0);
   residual_parameters.push_back(x1);
   residual_parameters.push_back(x2);
   residual_parameters.push_back(x3);
   residual_parameters.push_back(x4);
   residual_parameters.push_back(x5);
   return AddResidualBlock(cost_function, loss_function, residual_parameters);
 }


 void ProblemImpl::AddParameterBlock(double* values, int size) {
   InternalAddParameterBlock(values,
                             size,
                             &parameter_block_map_,
                             &program_->parameter_blocks_);
 }

 void ProblemImpl::AddParameterBlock(
     double* values,
     int size,
     LocalParameterization* local_parameterization) {
   ParameterBlock* parameter_block =
       InternalAddParameterBlock(values,
                                 size,
                                 &parameter_block_map_,
                                 &program_->parameter_blocks_);
   if (local_parameterization != NULL) {
     parameter_block->SetParameterization(local_parameterization);
   }
 }

 void ProblemImpl::SetParameterBlockConstant(double* values) {
   FindOrDie(parameter_block_map_, values)->SetConstant();
 }

 void ProblemImpl::SetParameterBlockVariable(double* values) {
   FindOrDie(parameter_block_map_, values)->SetVarying();
 }

 void ProblemImpl::SetParameterization(
     double* values,
     LocalParameterization* local_parameterization) {
   FindOrDie(parameter_block_map_, values)
       ->SetParameterization(local_parameterization);
 }

 int ProblemImpl::NumParameterBlocks() const {
   return program_->NumParameterBlocks();
 }

 int ProblemImpl::NumParameters() const {
   return program_->NumParameters();
 }

 int ProblemImpl::NumResidualBlocks() const {
   return program_->NumResidualBlocks();
 }

 int ProblemImpl::NumResiduals() const {
   return program_->NumResiduals();
 }

 }  // namespace internal
 }  // namespace ceres
	// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
	// http://code.google.com/p/ceres-solver/
	//
	// Redistribution and use in source and binary forms, with or without
	// modification, are permitted provided that the following conditions are met:
	//
	// * Redistributions of source code must retain the above copyright notice,
	// this list of conditions and the following disclaimer.
	// * Redistributions in binary form must reproduce the above copyright notice,
	// this list of conditions and the following disclaimer in the documentation
	// and/or other materials provided with the distribution.
	// * Neither the name of Google Inc. nor the names of its contributors may be
	// used to endorse or promote products derived from this software without
	// specific prior written permission.
	//
	// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
	// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
	// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
	// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
	// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
	// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
	// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
	// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
	// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
	// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	// POSSIBILITY OF SUCH DAMAGE.
	//
	// Author: sameeragarwal@google.com (Sameer Agarwal)
	// keir@google.com (Keir Mierle)

	#include "ceres/problem_impl.h"

	#include <algorithm>
	#include <cstddef>
	#include <set>
	#include <string>
	#include <utility>
	#include <vector>

	#include <glog/logging.h>
	#include "ceres/parameter_block.h"
	#include "ceres/program.h"
	#include "ceres/residual_block.h"
	#include "ceres/stl_util.h"
	#include "ceres/map_util.h"
	#include "ceres/stringprintf.h"
	#include "ceres/cost_function.h"
	#include "ceres/loss_function.h"

	namespace ceres {
	namespace internal {

	typedef map<double, internal::ParameterBlock> ParameterMap;

	// Returns true if two regions of memory, a and b, with sizes size_a and size_b
	// respectively, overlap.
	static bool RegionsAlias(const double* a, int size_a,
	const double* b, int size_b) {
	return (a < b) ? b < (a + size_a)
	: a < (b + size_b);
	}

	static void CheckForNoAliasing(double* existing_block,
	int existing_block_size,
	double* new_block,
	int new_block_size) {
	CHECK(!RegionsAlias(existing_block, existing_block_size,
	new_block, new_block_size))
	<< "Aliasing detected between existing parameter block at memory "
	<< "location " << existing_block
	<< " and has size " << existing_block_size << " with new parameter "
	<< "block that has memory adderss " << new_block << " and would have "
	<< "size " << new_block_size << ".";
	}

	static ParameterBlock* InternalAddParameterBlock(
	double* values,
	int size,
	ParameterMap* parameter_map,
	vector<ParameterBlock> parameter_blocks) {
	CHECK(values) << "Null pointer passed to AddParameterBlock for a parameter "
	<< "with size " << size;

	// Ignore the request if there is a block for the given pointer already.
	ParameterMap::iterator it = parameter_map->find(values);
	if (it != parameter_map->end()) {
	int existing_size = it->second->Size();
	CHECK(size == existing_size)
	<< "Tried adding a parameter block with the same double pointer, "
	<< values << ", twice, but with different block sizes. Original "
	<< "size was " << existing_size << " but new size is "
	<< size;
	return it->second;
	}
	// Before adding the parameter block, also check that it doesn't alias any
	// other parameter blocks.
	if (!parameter_map->empty()) {
	ParameterMap::iterator lb = parameter_map->lower_bound(values);

	// If lb is not the first block, check the previous block for aliasing.
	if (lb != parameter_map->begin()) {
	ParameterMap::iterator previous = lb;
	--previous;
	CheckForNoAliasing(previous->first,
	previous->second->Size(),
	values,
	size);
	}

	// If lb is not off the end, check lb for aliasing.
	if (lb != parameter_map->end()) {
	CheckForNoAliasing(lb->first,
	lb->second->Size(),
	values,
	size);
	}
	}
	ParameterBlock* new_parameter_block = new ParameterBlock(values, size);
	(*parameter_map)[values] = new_parameter_block;
	parameter_blocks->push_back(new_parameter_block);
	return new_parameter_block;
	}

	ProblemImpl::ProblemImpl() : program_(new internal::Program) {}
	ProblemImpl::ProblemImpl(const Problem::Options& options)
	: options_(options),
	program_(new internal::Program) {}

	ProblemImpl::~ProblemImpl() {
	// Collect the unique cost/loss functions and delete the residuals.
	set<CostFunction*> cost_functions;
	set<LossFunction*> loss_functions;
	for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
	ResidualBlock* residual_block = program_->residual_blocks_[i];

	// The const casts here are legit, since ResidualBlock holds these
	// pointers as const pointers but we have ownership of them and
	// have the right to destroy them when the destructor is called.
	if (options_.cost_function_ownership == TAKE_OWNERSHIP) {
	cost_functions.insert(
	const_cast<CostFunction*>(residual_block->cost_function()));
	}
	if (options_.loss_function_ownership == TAKE_OWNERSHIP) {
	loss_functions.insert(
	const_cast<LossFunction*>(residual_block->loss_function()));
	}

	delete residual_block;
	}

	// Collect the unique parameterizations and delete the parameters.
	set<LocalParameterization*> local_parameterizations;
	for (int i = 0; i < program_->parameter_blocks_.size(); ++i) {
	ParameterBlock* parameter_block = program_->parameter_blocks_[i];

	if (options_.local_parameterization_ownership == TAKE_OWNERSHIP) {
	local_parameterizations.insert(parameter_block->local_parameterization_);
	}

	delete parameter_block;
	}

	// Delete the owned cost/loss functions and parameterizations.
	STLDeleteContainerPointers(local_parameterizations.begin(),
	local_parameterizations.end());
	STLDeleteContainerPointers(cost_functions.begin(),
	cost_functions.end());
	STLDeleteContainerPointers(loss_functions.begin(),
	loss_functions.end());
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	const vector<double*>& parameter_blocks) {
	CHECK_NOTNULL(cost_function);
	CHECK_EQ(parameter_blocks.size(),
	cost_function->parameter_block_sizes().size());

	// Check the sizes match.
	const vector<int16>& parameter_block_sizes =
	cost_function->parameter_block_sizes();
	CHECK_EQ(parameter_block_sizes.size(), parameter_blocks.size())
	<< "Number of blocks input is different than the number of blocks "
	<< "that the cost function expects.";

	// Check for duplicate parameter blocks.
	vector<double*> sorted_parameter_blocks(parameter_blocks);
	sort(sorted_parameter_blocks.begin(), sorted_parameter_blocks.end());
	vector<double*>::const_iterator duplicate_items =
	unique(sorted_parameter_blocks.begin(),
	sorted_parameter_blocks.end());
	if (duplicate_items != sorted_parameter_blocks.end()) {
	string blocks;
	for (int i = 0; i < parameter_blocks.size(); ++i) {
	blocks += internal::StringPrintf(" %p ", parameter_blocks[i]);
	}

	LOG(FATAL) << "Duplicate parameter blocks in a residual parameter "
	<< "are not allowed. Parameter block pointers: ["
	<< blocks << "]";
	}

	// Add parameter blocks and convert the double*'s to parameter blocks.
	vector<ParameterBlock*> parameter_block_ptrs(parameter_blocks.size());
	for (int i = 0; i < parameter_blocks.size(); ++i) {
	parameter_block_ptrs[i] =
	InternalAddParameterBlock(parameter_blocks[i],
	parameter_block_sizes[i],
	&parameter_block_map_,
	&program_->parameter_blocks_);
	}

	// Check that the block sizes match the block sizes expected by the
	// cost_function.
	for (int i = 0; i < parameter_block_ptrs.size(); ++i) {
	CHECK_EQ(cost_function->parameter_block_sizes()[i],
	parameter_block_ptrs[i]->Size())
	<< "The cost function expects parameter block " << i
	<< " of size " << cost_function->parameter_block_sizes()[i]
	<< " but was given a block of size "
	<< parameter_block_ptrs[i]->Size();
	}

	ResidualBlock* new_residual_block =
	new ResidualBlock(cost_function,
	loss_function,
	parameter_block_ptrs);
	program_->residual_blocks_.push_back(new_residual_block);
	return new_residual_block;
	}

	// Unfortunately, macros don't help much to reduce this code, and var args don't
	// work because of the ambiguous case that there is no loss function.
	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0, double* x1) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	residual_parameters.push_back(x1);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0, double* x1, double* x2) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	residual_parameters.push_back(x1);
	residual_parameters.push_back(x2);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0, double* x1, double* x2, double* x3) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	residual_parameters.push_back(x1);
	residual_parameters.push_back(x2);
	residual_parameters.push_back(x3);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0, double* x1, double* x2, double* x3, double* x4) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	residual_parameters.push_back(x1);
	residual_parameters.push_back(x2);
	residual_parameters.push_back(x3);
	residual_parameters.push_back(x4);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}

	const ResidualBlock* ProblemImpl::AddResidualBlock(
	CostFunction* cost_function,
	LossFunction* loss_function,
	double* x0, double* x1, double* x2, double* x3, double* x4, double* x5) {
	vector<double*> residual_parameters;
	residual_parameters.push_back(x0);
	residual_parameters.push_back(x1);
	residual_parameters.push_back(x2);
	residual_parameters.push_back(x3);
	residual_parameters.push_back(x4);
	residual_parameters.push_back(x5);
	return AddResidualBlock(cost_function, loss_function, residual_parameters);
	}


	void ProblemImpl::AddParameterBlock(double* values, int size) {
	InternalAddParameterBlock(values,
	size,
	&parameter_block_map_,
	&program_->parameter_blocks_);
	}

	void ProblemImpl::AddParameterBlock(
	double* values,
	int size,
	LocalParameterization* local_parameterization) {
	ParameterBlock* parameter_block =
	InternalAddParameterBlock(values,
	size,
	&parameter_block_map_,
	&program_->parameter_blocks_);
	if (local_parameterization != NULL) {
	parameter_block->SetParameterization(local_parameterization);
	}
	}

	void ProblemImpl::SetParameterBlockConstant(double* values) {
	FindOrDie(parameter_block_map_, values)->SetConstant();
	}

	void ProblemImpl::SetParameterBlockVariable(double* values) {
	FindOrDie(parameter_block_map_, values)->SetVarying();
	}

	void ProblemImpl::SetParameterization(
	double* values,
	LocalParameterization* local_parameterization) {
	FindOrDie(parameter_block_map_, values)
	->SetParameterization(local_parameterization);
	}

	int ProblemImpl::NumParameterBlocks() const {
	return program_->NumParameterBlocks();
	}

	int ProblemImpl::NumParameters() const {
	return program_->NumParameters();
	}

	int ProblemImpl::NumResidualBlocks() const {
	return program_->NumResidualBlocks();
	}

	int ProblemImpl::NumResiduals() const {
	return program_->NumResiduals();
	}

	} // namespace internal
	} // namespace ceres