Add Problem::HasParameterization
This will help the transition from LocalParameterization to Manifolds,
since most uses of Problem::GetParameterization is to just check
whether a parameter block has a local parameterization associated
with it or not.
Change-Id: Ib3539f377eaed853d7542c9844ec1487aa0fb4d6
diff --git a/include/ceres/problem.h b/include/ceres/problem.h
index add12ea..734a968 100644
--- a/include/ceres/problem.h
+++ b/include/ceres/problem.h
@@ -329,6 +329,10 @@
// associated then nullptr is returned.
const LocalParameterization* GetParameterization(const double* values) const;
+ // Returns true if a parameterization is associated with this parameter block,
+ // false otherwise.
+ bool HasParameterization(const double* values) const;
+
// Set the lower/upper bound for the parameter at position "index".
void SetParameterLowerBound(double* values, int index, double lower_bound);
void SetParameterUpperBound(double* values, int index, double upper_bound);
diff --git a/internal/ceres/problem.cc b/internal/ceres/problem.cc
index f3ffd54..de4a2b3 100644
--- a/internal/ceres/problem.cc
+++ b/internal/ceres/problem.cc
@@ -106,6 +106,10 @@
return impl_->GetParameterization(values);
}
+bool Problem::HasParameterization(const double* values) const {
+ return impl_->HasParameterization(values);
+}
+
void Problem::SetParameterLowerBound(double* values,
int index,
double lower_bound) {
diff --git a/internal/ceres/problem_impl.cc b/internal/ceres/problem_impl.cc
index 3155bc3..492cabc 100644
--- a/internal/ceres/problem_impl.cc
+++ b/internal/ceres/problem_impl.cc
@@ -543,6 +543,18 @@
return parameter_block->local_parameterization();
}
+bool ProblemImpl::HasParameterization(const double* values) const {
+ ParameterBlock* parameter_block = FindWithDefault(
+ parameter_block_map_, const_cast<double*>(values), nullptr);
+ if (parameter_block == nullptr) {
+ LOG(FATAL) << "Parameter block not found: " << values
+ << ". You must add the parameter block to the problem before "
+ << "you can get its local parameterization.";
+ }
+
+ return (parameter_block->local_parameterization() != nullptr);
+}
+
void ProblemImpl::SetParameterLowerBound(double* values,
int index,
double lower_bound) {
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h
index 9abff3f..5051c57 100644
--- a/internal/ceres/problem_impl.h
+++ b/internal/ceres/problem_impl.h
@@ -110,6 +110,7 @@
void SetParameterization(double* values,
LocalParameterization* local_parameterization);
const LocalParameterization* GetParameterization(const double* values) const;
+ bool HasParameterization(const double* values) const;
void SetParameterLowerBound(double* values, int index, double lower_bound);
void SetParameterUpperBound(double* values, int index, double upper_bound);
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
index 9f129df..67faa7e 100644
--- a/internal/ceres/problem_test.cc
+++ b/internal/ceres/problem_test.cc
@@ -612,6 +612,20 @@
EXPECT_TRUE(problem.GetParameterization(y) == NULL);
}
+TEST(Problem, HasParameterization) {
+ double x[3];
+ double y[2];
+
+ Problem problem;
+ problem.AddParameterBlock(x, 3);
+ problem.AddParameterBlock(y, 2);
+
+ LocalParameterization* parameterization = new IdentityParameterization(3);
+ problem.SetParameterization(x, parameterization);
+ EXPECT_TRUE(problem.HasParameterization(x));
+ EXPECT_FALSE(problem.HasParameterization(y));
+}
+
TEST(Problem, ParameterBlockQueryTest) {
double x[3];
double y[4];
