diff options
Diffstat (limited to 'internal/ceres/problem_impl.h')
-rw-r--r-- | internal/ceres/problem_impl.h | 27 |
1 files changed, 27 insertions, 0 deletions
diff --git a/internal/ceres/problem_impl.h b/internal/ceres/problem_impl.h index ace27f5..7b5547b 100644 --- a/internal/ceres/problem_impl.h +++ b/internal/ceres/problem_impl.h @@ -45,6 +45,7 @@ #include "ceres/internal/macros.h" #include "ceres/internal/port.h" #include "ceres/internal/scoped_ptr.h" +#include "ceres/collections_port.h" #include "ceres/problem.h" #include "ceres/types.h" @@ -63,6 +64,7 @@ class ResidualBlock; class ProblemImpl { public: typedef map<double*, ParameterBlock*> ParameterMap; + typedef HashSet<ResidualBlock*> ResidualBlockSet; ProblemImpl(); explicit ProblemImpl(const Problem::Options& options); @@ -127,6 +129,10 @@ class ProblemImpl { void SetParameterBlockVariable(double* values); void SetParameterization(double* values, LocalParameterization* local_parameterization); + const LocalParameterization* GetParameterization(double* values) const; + + void SetParameterLowerBound(double* values, int index, double lower_bound); + void SetParameterUpperBound(double* values, int index, double upper_bound); bool Evaluate(const Problem::EvaluateOptions& options, double* cost, @@ -141,15 +147,33 @@ class ProblemImpl { int ParameterBlockSize(const double* parameter_block) const; int ParameterBlockLocalSize(const double* parameter_block) const; + + bool HasParameterBlock(const double* parameter_block) const; + void GetParameterBlocks(vector<double*>* parameter_blocks) const; + void GetResidualBlocks(vector<ResidualBlockId>* residual_blocks) const; + + void GetParameterBlocksForResidualBlock( + const ResidualBlockId residual_block, + vector<double*>* parameter_blocks) const; + + void GetResidualBlocksForParameterBlock( + const double* values, + vector<ResidualBlockId>* residual_blocks) const; const Program& program() const { return *program_; } Program* mutable_program() { return program_.get(); } const ParameterMap& parameter_map() const { return parameter_block_map_; } + const ResidualBlockSet& residual_block_set() const { + CHECK(options_.enable_fast_removal) + << "Fast removal not enabled, residual_block_set is not maintained."; + return residual_block_set_; + } private: ParameterBlock* InternalAddParameterBlock(double* values, int size); + void InternalRemoveResidualBlock(ResidualBlock* residual_block); bool InternalEvaluate(Program* program, double* cost, @@ -171,6 +195,9 @@ class ProblemImpl { // The mapping from user pointers to parameter blocks. map<double*, ParameterBlock*> parameter_block_map_; + // Iff enable_fast_removal is enabled, contains the current residual blocks. + ResidualBlockSet residual_block_set_; + // The actual parameter and residual blocks. internal::scoped_ptr<internal::Program> program_; |