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Diffstat (limited to 'internal/ceres/block_evaluate_preparer.h')
-rw-r--r-- | internal/ceres/block_evaluate_preparer.h | 77 |
1 files changed, 77 insertions, 0 deletions
diff --git a/internal/ceres/block_evaluate_preparer.h b/internal/ceres/block_evaluate_preparer.h new file mode 100644 index 0000000..354acc0 --- /dev/null +++ b/internal/ceres/block_evaluate_preparer.h @@ -0,0 +1,77 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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_ |