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Diffstat (limited to 'internal/ceres/scratch_evaluate_preparer.h')
-rw-r--r-- | internal/ceres/scratch_evaluate_preparer.h | 69 |
1 files changed, 69 insertions, 0 deletions
diff --git a/internal/ceres/scratch_evaluate_preparer.h b/internal/ceres/scratch_evaluate_preparer.h new file mode 100644 index 0000000..6b12708 --- /dev/null +++ b/internal/ceres/scratch_evaluate_preparer.h @@ -0,0 +1,69 @@ +// 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 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_ |