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Diffstat (limited to 'internal/ceres/dynamic_compressed_row_jacobian_writer.h')
-rw-r--r-- | internal/ceres/dynamic_compressed_row_jacobian_writer.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.h b/internal/ceres/dynamic_compressed_row_jacobian_writer.h new file mode 100644 index 0000000..df9581b --- /dev/null +++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.h @@ -0,0 +1,83 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2014 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: richie.stebbing@gmail.com (Richard Stebbing) +// +// A jacobian writer that directly writes to dynamic compressed row sparse +// matrices. + +#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ +#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ + +#include "ceres/evaluator.h" +#include "ceres/scratch_evaluate_preparer.h" + +namespace ceres { +namespace internal { + +class Program; +class SparseMatrix; + +class DynamicCompressedRowJacobianWriter { + public: + DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */, + Program* program) + : program_(program) { + } + + // JacobianWriter interface. + + // The compressed row matrix has different layout than that assumed by + // the cost functions. The scratch space is therefore used to store + // the jacobians (including zeros) temporarily before only the non-zero + // entries are copied over to the larger jacobian in `Write`. + ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads); + + // Return a `DynamicCompressedRowSparseMatrix` which is filled by + // `Write`. Note that `Finalize` must be called to make the + // `CompressedRowSparseMatrix` interface valid. + SparseMatrix* CreateJacobian() const; + + // Write only the non-zero jacobian entries for a residual block + // (specified by `residual_id`) into `base_jacobian`, starting at the row + // specifed by `residual_offset`. + // + // This method is thread-safe over residual blocks (each `residual_id`). + void Write(int residual_id, + int residual_offset, + double **jacobians, + SparseMatrix* base_jacobian); + + private: + Program* program_; +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |