Sized cost function using variadic templates
This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.
Trailing parameter blocks of size zero are now considered as error.
Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760
diff --git a/internal/ceres/autodiff_test.cc b/internal/ceres/autodiff_test.cc
index 20f4437..04a77ea 100644
--- a/internal/ceres/autodiff_test.cc
+++ b/internal/ceres/autodiff_test.cc
@@ -194,7 +194,7 @@
{
double *parameters[] = { PX };
double *jacobians[] = { J_PX };
- ASSERT_TRUE((AutoDiff<Projective, double, 12 + 4>::Differentiate(
+ ASSERT_TRUE((AutoDifferentiate<StaticParameterDims<12 + 4>>(
b, parameters, 2, ad_x1, jacobians)));
for (int i = 0; i < 2; ++i) {
@@ -209,7 +209,7 @@
double J_X[2 * 4];
double *parameters[] = { P, X };
double *jacobians[] = { J_P, J_X };
- ASSERT_TRUE((AutoDiff<Projective, double, 12, 4>::Differentiate(
+ ASSERT_TRUE((AutoDifferentiate<StaticParameterDims<12, 4>>(
b, parameters, 2, ad_x2, jacobians)));
for (int i = 0; i < 2; ++i) {
@@ -316,7 +316,7 @@
double J_X[2 * 3];
double *parameters[] = { q, c, X };
double *jacobians[] = { J_q, J_c, J_X };
- ASSERT_TRUE((AutoDiff<Metric, double, 4, 3, 3>::Differentiate(
+ ASSERT_TRUE((AutoDifferentiate<StaticParameterDims<4, 3, 3>>(
b, parameters, 2, ad_x, jacobians)));
for (int i = 0; i < 2; ++i) {
@@ -366,7 +366,7 @@
functor.num_residuals = num_residuals;
// Run autodiff with the new number of residuals.
- ASSERT_TRUE((AutoDiff<VaryingResidualFunctor, double, 2>::Differentiate(
+ ASSERT_TRUE((AutoDifferentiate<StaticParameterDims<2>>(
functor, parameters, num_residuals, residuals, jacobians)));
const double kTolerance = 1e-14;
@@ -528,8 +528,8 @@
{
Residual1Param functor;
int num_variables = 1;
- EXPECT_TRUE((AutoDiff<Residual1Param, double, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -539,8 +539,8 @@
{
Residual2Param functor;
int num_variables = 2;
- EXPECT_TRUE((AutoDiff<Residual2Param, double, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -550,8 +550,8 @@
{
Residual3Param functor;
int num_variables = 3;
- EXPECT_TRUE((AutoDiff<Residual3Param, double, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -561,8 +561,8 @@
{
Residual4Param functor;
int num_variables = 4;
- EXPECT_TRUE((AutoDiff<Residual4Param, double, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -572,8 +572,8 @@
{
Residual5Param functor;
int num_variables = 5;
- EXPECT_TRUE((AutoDiff<Residual5Param, double, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -583,10 +583,8 @@
{
Residual6Param functor;
int num_variables = 6;
- EXPECT_TRUE((AutoDiff<Residual6Param,
- double,
- 1, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -596,10 +594,8 @@
{
Residual7Param functor;
int num_variables = 7;
- EXPECT_TRUE((AutoDiff<Residual7Param,
- double,
- 1, 1, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -609,10 +605,8 @@
{
Residual8Param functor;
int num_variables = 8;
- EXPECT_TRUE((AutoDiff<
- Residual8Param,
- double, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE((AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -622,11 +616,9 @@
{
Residual9Param functor;
int num_variables = 9;
- EXPECT_TRUE((AutoDiff<
- Residual9Param,
- double,
- 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE(
+ (AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
@@ -636,11 +628,9 @@
{
Residual10Param functor;
int num_variables = 10;
- EXPECT_TRUE((AutoDiff<
- Residual10Param,
- double,
- 1, 1, 1, 1, 1, 1, 1, 1, 1, 1>::Differentiate(
- functor, parameters, 1, &residual, jacobians)));
+ EXPECT_TRUE(
+ (AutoDifferentiate<StaticParameterDims<1, 1, 1, 1, 1, 1, 1, 1, 1, 1>>(
+ functor, parameters, 1, &residual, jacobians)));
EXPECT_EQ(residual, pow(2, num_variables + 1) - 2);
for (int i = 0; i < num_variables; ++i) {
EXPECT_EQ(jacobian_values[i], (i + 1) * pow(2, i));
diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index a7833d8..18b7e8c 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc
@@ -265,14 +265,12 @@
double* jacobian_array[2] = { NULL, jacobian_ref };
// Autodiff jacobian at delta_x = 0.
- internal::AutoDiff<Plus,
- double,
- kGlobalSize,
- kLocalSize>::Differentiate(Plus(),
- parameters,
- kGlobalSize,
- x_plus_delta,
- jacobian_array);
+ internal::AutoDifferentiate<StaticParameterDims<kGlobalSize, kLocalSize>>(
+ Plus(),
+ parameters,
+ kGlobalSize,
+ x_plus_delta,
+ jacobian_array);
double jacobian[12];
parameterization.ComputeJacobian(x, jacobian);
diff --git a/internal/ceres/parameter_dims_test.cc b/internal/ceres/parameter_dims_test.cc
index 9a95cf5..f33536f 100644
--- a/internal/ceres/parameter_dims_test.cc
+++ b/internal/ceres/parameter_dims_test.cc
@@ -89,11 +89,11 @@
constexpr int N1 = 4;
constexpr int N2 = 2;
- using Params = StaticParameterDims<N0, N1, N2>;
+ using ParameterDims = StaticParameterDims<N0, N1, N2>;
- std::array<double, Params::kNumParameters> packed_parameters{};
+ std::array<double, ParameterDims::kNumParameters> packed_parameters{};
std::array<double*, 3> unpacked_parameters =
- Params::GetUnpackedParameters(packed_parameters.data());
+ ParameterDims::GetUnpackedParameters(packed_parameters.data());
EXPECT_EQ(packed_parameters.data(), unpacked_parameters[0]);
EXPECT_EQ(packed_parameters.data() + N0, unpacked_parameters[1]);
