MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/block_evaluate_preparer.h
2019-01-03 16:25:18 +08:00

78 lines
3.2 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: keir@google.com (Keir Mierle)
//
// A evaluate preparer which puts jacobian the evaluated jacobian blocks
// directly into their final resting place in an overall block sparse matrix.
// The evaluator takes care to avoid evaluating the jacobian for fixed
// parameters.
#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class ResidualBlock;
class SparseMatrix;
class BlockEvaluatePreparer {
public:
// Using Init() instead of a constructor allows for allocating this structure
// with new[]. This is because C++ doesn't allow passing arguments to objects
// constructed with new[] (as opposed to plain 'new').
void Init(int const* const* jacobian_layout,
int max_derivatives_per_residual_block);
// EvaluatePreparer interface
// Point the jacobian blocks directly into the block sparse matrix, if
// jacobian is non-null. Otherwise, uses an internal per-thread buffer to
// store the jacobians temporarily.
void Prepare(const ResidualBlock* residual_block,
int residual_block_index,
SparseMatrix* jacobian,
double** jacobians);
private:
int const* const* jacobian_layout_;
// For the case that the overall jacobian is not available, but the
// individual jacobians are requested, use a pass-through scratch evaluate
// preparer.
ScratchEvaluatePreparer scratch_evaluate_preparer_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_