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

70 lines
2.9 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 scratch evaluate preparer provides temporary storage for the jacobians that
// are created when running user-provided cost functions. The evaluator takes
// care to avoid evaluating the jacobian for fixed parameters.
#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_
#include "ceres/internal/scoped_ptr.h"
namespace ceres {
namespace internal {
class Program;
class ResidualBlock;
class SparseMatrix;
class ScratchEvaluatePreparer {
public:
// Create num_threads ScratchEvaluatePreparers.
static ScratchEvaluatePreparer* Create(const Program &program,
int num_threads);
// EvaluatePreparer interface
void Init(int max_derivatives_per_residual_block);
void Prepare(const ResidualBlock* residual_block,
int residual_block_index,
SparseMatrix* jacobian,
double** jacobians);
private:
// Scratch space for the jacobians; each jacobian is packed one after another.
// There is enough scratch to hold all the jacobians for the largest residual.
scoped_array<double> jacobian_scratch_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_