84 lines
3.3 KiB
C
84 lines
3.3 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: richie.stebbing@gmail.com (Richard Stebbing)
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//
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// A jacobian writer that directly writes to dynamic compressed row sparse
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// matrices.
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#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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#include "ceres/evaluator.h"
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#include "ceres/scratch_evaluate_preparer.h"
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namespace ceres {
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namespace internal {
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class Program;
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class SparseMatrix;
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class DynamicCompressedRowJacobianWriter {
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public:
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DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */,
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Program* program)
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: program_(program) {
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}
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// JacobianWriter interface.
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// The compressed row matrix has different layout than that assumed by
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// the cost functions. The scratch space is therefore used to store
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// the jacobians (including zeros) temporarily before only the non-zero
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// entries are copied over to the larger jacobian in `Write`.
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ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads);
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// Return a `DynamicCompressedRowSparseMatrix` which is filled by
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// `Write`. Note that `Finalize` must be called to make the
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// `CompressedRowSparseMatrix` interface valid.
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SparseMatrix* CreateJacobian() const;
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// Write only the non-zero jacobian entries for a residual block
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// (specified by `residual_id`) into `base_jacobian`, starting at the row
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// specifed by `residual_offset`.
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//
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// This method is thread-safe over residual blocks (each `residual_id`).
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void Write(int residual_id,
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int residual_offset,
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double **jacobians,
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SparseMatrix* base_jacobian);
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private:
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Program* program_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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