mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
84 lines
3.3 KiB
C++
84 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: joydeepb@cs.utexas.edu (Joydeep Biswas)
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#ifndef CERES_INTERNAL_CUDA_KERNELS_VECTOR_OPS_H_
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#define CERES_INTERNAL_CUDA_KERNELS_VECTOR_OPS_H_
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#include "ceres/internal/config.h"
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#ifndef CERES_NO_CUDA
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#include "cuda_runtime.h"
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namespace ceres {
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namespace internal {
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class Block;
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class Cell;
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// Convert an array of double (FP64) values to float (FP32). Both arrays must
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// already be on GPU memory.
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void CudaFP64ToFP32(const double* input,
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float* output,
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const int size,
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cudaStream_t stream);
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// Convert an array of float (FP32) values to double (FP64). Both arrays must
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// already be on GPU memory.
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void CudaFP32ToFP64(const float* input,
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double* output,
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const int size,
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cudaStream_t stream);
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// Set all elements of the array to the FP32 value 0. The array must be in GPU
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// memory.
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void CudaSetZeroFP32(float* output, const int size, cudaStream_t stream);
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// Set all elements of the array to the FP64 value 0. The array must be in GPU
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// memory.
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void CudaSetZeroFP64(double* output, const int size, cudaStream_t stream);
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// Compute x = x + double(y). Input array is float (FP32), output array is
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// double (FP64). Both arrays must already be on GPU memory.
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void CudaDsxpy(double* x, float* y, const int size, cudaStream_t stream);
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// Compute y[i] = y[i] + d[i]^2 x[i]. All arrays must already be on GPU memory.
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void CudaDtDxpy(double* y,
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const double* D,
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const double* x,
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const int size,
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cudaStream_t stream);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_NO_CUDA
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#endif // CERES_INTERNAL_CUDA_KERNELS_VECTOR_OPS_H_
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