mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +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
78 lines
3.3 KiB
C++
78 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: keir@google.com (Keir Mierle)
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#include "ceres/scratch_evaluate_preparer.h"
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#include <memory>
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#include "ceres/parameter_block.h"
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#include "ceres/program.h"
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#include "ceres/residual_block.h"
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namespace ceres::internal {
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std::unique_ptr<ScratchEvaluatePreparer[]> ScratchEvaluatePreparer::Create(
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const Program& program, unsigned num_threads) {
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auto preparers = std::make_unique<ScratchEvaluatePreparer[]>(num_threads);
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int max_derivatives_per_residual_block =
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program.MaxDerivativesPerResidualBlock();
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for (unsigned i = 0; i < num_threads; i++) {
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preparers[i].Init(max_derivatives_per_residual_block);
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}
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return preparers;
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}
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void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
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jacobian_scratch_ = std::make_unique<double[]>(
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static_cast<std::size_t>(max_derivatives_per_residual_block));
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}
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// Point the jacobian blocks into the scratch area of this evaluate preparer.
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void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
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int /* residual_block_index */,
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SparseMatrix* /* jacobian */,
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double** jacobians) {
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double* jacobian_block_cursor = jacobian_scratch_.get();
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int num_residuals = residual_block->NumResiduals();
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int num_parameter_blocks = residual_block->NumParameterBlocks();
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for (int j = 0; j < num_parameter_blocks; ++j) {
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const ParameterBlock* parameter_block =
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residual_block->parameter_blocks()[j];
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if (parameter_block->IsConstant()) {
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jacobians[j] = nullptr;
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} else {
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jacobians[j] = jacobian_block_cursor;
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jacobian_block_cursor += num_residuals * parameter_block->TangentSize();
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}
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}
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}
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} // namespace ceres::internal
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