70 lines
2.9 KiB
C
70 lines
2.9 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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//
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// A scratch evaluate preparer provides temporary storage for the jacobians that
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// are created when running user-provided cost functions. The evaluator takes
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// care to avoid evaluating the jacobian for fixed parameters.
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#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
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#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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class Program;
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class ResidualBlock;
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class SparseMatrix;
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class ScratchEvaluatePreparer {
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public:
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// Create num_threads ScratchEvaluatePreparers.
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static ScratchEvaluatePreparer* Create(const Program &program,
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int num_threads);
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// EvaluatePreparer interface
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void Init(int max_derivatives_per_residual_block);
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void Prepare(const ResidualBlock* residual_block,
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int residual_block_index,
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SparseMatrix* jacobian,
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double** jacobians);
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private:
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// Scratch space for the jacobians; each jacobian is packed one after another.
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// There is enough scratch to hold all the jacobians for the largest residual.
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scoped_array<double> jacobian_scratch_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
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