78 lines
3.2 KiB
C
78 lines
3.2 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 evaluate preparer which puts jacobian the evaluated jacobian blocks
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// directly into their final resting place in an overall block sparse matrix.
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// The evaluator takes care to avoid evaluating the jacobian for fixed
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// parameters.
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#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
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#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_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 ResidualBlock;
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class SparseMatrix;
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class BlockEvaluatePreparer {
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public:
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// Using Init() instead of a constructor allows for allocating this structure
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// with new[]. This is because C++ doesn't allow passing arguments to objects
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// constructed with new[] (as opposed to plain 'new').
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void Init(int const* const* jacobian_layout,
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int max_derivatives_per_residual_block);
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// EvaluatePreparer interface
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// Point the jacobian blocks directly into the block sparse matrix, if
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// jacobian is non-null. Otherwise, uses an internal per-thread buffer to
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// store the jacobians temporarily.
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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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int const* const* jacobian_layout_;
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// For the case that the overall jacobian is not available, but the
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// individual jacobians are requested, use a pass-through scratch evaluate
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// preparer.
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ScratchEvaluatePreparer scratch_evaluate_preparer_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
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