add support for partial evaluation

cvg · Jun 20, 2024 · 0fd4d44 · 0fd4d44
1 parent 97319e6
commit 0fd4d44
Showing 1 changed file with 17 additions and 4 deletions.
diff --git a/_pyceres/core/problem.h b/_pyceres/core/problem.h
@@ -40,11 +40,15 @@ void BindProblem(py::module& m) {
       .def_readwrite("disable_all_safety_checks",
                      &options::disable_all_safety_checks);
 
-  // TODO: bind Problem::Evaluate
   py::class_<ceres::Problem::EvaluateOptions>(m, "EvaluateOptions")
       .def(py::init<>())
-      // Doesn't make sense to wrap this as you can't see the pointers in python
-      //.def_readwrite("parameter_blocks",&ceres::Problem::EvaluateOptions)
+      .def("set_parameter_blocks", [](ceres::Problem::EvaluateOptions& self, std::vector<py::array_t<double>>& blocks) {
+            self.parameter_blocks.clear();
+            for (auto it = blocks.begin(); it != blocks.end(); ++it) {
+              py::buffer_info info = it->request();
+              self.parameter_blocks.push_back(static_cast<double*>(info.ptr));
+            }
+          })
       .def_readwrite("apply_loss_function",
                      &ceres::Problem::EvaluateOptions::apply_loss_function)
       .def_readwrite("num_threads",
@@ -234,11 +238,20 @@ void BindProblem(py::module& m) {
            [](ceres::Problem& self, ResidualBlockIDWrapper& residual_block_id) {
              self.RemoveResidualBlock(residual_block_id.id);
            })
+      .def("evaluate_residuals",
+          [](ceres::Problem& self,
+              const ceres::Problem::EvaluateOptions& options) {
+             std::vector<double> residuals;
+             self.Evaluate(options, nullptr, &residuals, nullptr, nullptr);
+             return residuals;
+           },
+           py::arg("options") = ceres::Problem::EvaluateOptions())
       .def("evaluate_jacobian",
            [](ceres::Problem& self,
               const ceres::Problem::EvaluateOptions& options) {
              ceres::CRSMatrix jacobian;
              self.Evaluate(options, nullptr, nullptr, nullptr, &jacobian);
              return jacobian;
-           });
+           },
+           py::arg("options") = ceres::Problem::EvaluateOptions());
 }