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Actualization to Ceres-solver changes. #3

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Actualization to Ceres-solver changes. #3

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27 changes: 13 additions & 14 deletions cyres/src/ceres.pxd
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,7 @@ from libcpp.vector cimport vector
from libcpp.string cimport string
from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t

cdef extern from "types.h" namespace "ceres":
ctypedef short int16
cdef extern from "ceres/types.h" namespace "ceres":
ctypedef int int32
ctypedef enum Ownership:
DO_NOT_TAKE_OWNERSHIP
Expand Down Expand Up @@ -278,12 +277,12 @@ cdef extern from "types.h" namespace "ceres":
FORWARD


cdef extern from "ordered_groups.h" namespace "ceres":
cdef extern from "ceres/ordered_groups.h" namespace "ceres":
cdef cppclass OrderedGroups[T]:
pass
ctypedef OrderedGroups[double*] ParameterBlockOrdering

cdef extern from "iteration_callback.h" namespace "ceres":
cdef extern from "ceres/iteration_callback.h" namespace "ceres":
cdef struct IterationSummary:
IterationSummary()

Expand Down Expand Up @@ -370,7 +369,7 @@ cdef extern from "iteration_callback.h" namespace "ceres":
cdef cppclass IterationCallback:
CallbackReturnType operator()(const IterationSummary& summary)

cdef extern from "crs_matrix.h" namespace "ceres":
cdef extern from "ceres/crs_matrix.h" namespace "ceres":
ctypedef struct CRSMatrix:
CRSMatrix()

Expand All @@ -381,7 +380,7 @@ cdef extern from "crs_matrix.h" namespace "ceres":
vector[int] rows
vector[double] values

cdef extern from "local_parameterization.h" namespace "ceres":
cdef extern from "ceres/local_parameterization.h" namespace "ceres":
cdef cppclass LocalParameterization:
bool Plus(const double* x,
const double* delta,
Expand All @@ -392,7 +391,7 @@ cdef extern from "local_parameterization.h" namespace "ceres":

LocalSize() const

cdef extern from "problem.h" namespace "ceres::internal":
cdef extern from "ceres/problem.h" namespace "ceres::internal":

cdef cppclass Preprocessor:
pass
Expand All @@ -403,7 +402,7 @@ cdef extern from "problem.h" namespace "ceres::internal":
cdef cppclass ResidualBlock:
pass

cdef extern from "loss_function.h" namespace "ceres":
cdef extern from "ceres/loss_function.h" namespace "ceres":

cdef cppclass LossFunction:
void Evaluate(double sq_norm, double out[3]) const
Expand Down Expand Up @@ -431,17 +430,17 @@ cdef extern from "loss_function.h" namespace "ceres":
ScaledLoss(const LossFunction* rho, double a, Ownership ownership)


cdef extern from "cost_function.h" namespace "ceres":
cdef extern from "ceres/cost_function.h" namespace "ceres":
cdef cppclass CostFunction:
bool Evaluate(double** parameters,
double* residuals,
double** jacobians) const

const vector[int16]& parameter_block_sizes() const
const vector[int32]& parameter_block_sizes() const

int num_residuals() const

cdef extern from "solver.h" namespace "ceres::Solver":
cdef extern from "ceres/solver.h" namespace "ceres::Solver":
cdef cppclass SolverOptions "ceres::Solver::Options":
MinimizerType minimizer_type

Expand Down Expand Up @@ -956,13 +955,13 @@ cdef extern from "solver.h" namespace "ceres::Solver":
vector[int] inner_iteration_ordering_given
vector[int] inner_iteration_ordering_used

cdef extern from "solver.h" namespace "ceres":
cdef extern from "ceres/solver.h" namespace "ceres":

void Solve(const SolverOptions& options,
Problem* problem,
Summary* summary)

cdef extern from "problem.h" namespace "ceres::Problem":
cdef extern from "ceres/problem.h" namespace "ceres::Problem":

ctypedef ResidualBlock* ResidualBlockId

Expand All @@ -982,7 +981,7 @@ cdef extern from "problem.h" namespace "ceres::Problem":
bool apply_loss_function
int num_threads

cdef extern from "problem.h" namespace "ceres":
cdef extern from "ceres/problem.h" namespace "ceres":

ctypedef ResidualBlock* ResidualBlockId

Expand Down
2 changes: 1 addition & 1 deletion cyres/src/cyres.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ cdef class CostFunction:

cpdef parameter_block_sizes(self):
block_sizes = []
cdef vector[ceres.int16] _parameter_block_sizes = self._cost_function.parameter_block_sizes()
cdef vector[ceres.int32] _parameter_block_sizes = self._cost_function.parameter_block_sizes()
for i in range(_parameter_block_sizes.size()):
block_sizes.append(_parameter_block_sizes[i])
return block_sizes
Expand Down