mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
78 lines
3.2 KiB
C++
78 lines
3.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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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//
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// A evaluate preparer which puts jacobian the evaluated jacobian blocks
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// directly into their final resting place in an overall block sparse matrix.
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// The evaluator takes care to avoid evaluating the jacobian for fixed
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// parameters.
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#ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
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#define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
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#include "ceres/scratch_evaluate_preparer.h"
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namespace ceres {
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namespace internal {
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class ResidualBlock;
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class SparseMatrix;
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class BlockEvaluatePreparer {
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public:
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// Using Init() instead of a constructor allows for allocating this structure
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// with new[]. This is because C++ doesn't allow passing arguments to objects
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// constructed with new[] (as opposed to plain 'new').
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void Init(int const* const* jacobian_layout,
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int max_derivatives_per_residual_block);
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// EvaluatePreparer interface
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// Point the jacobian blocks directly into the block sparse matrix, if
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// jacobian is non-null. Otherwise, uses an internal per-thread buffer to
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// store the jacobians temporarily.
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void 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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private:
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int const* const* jacobian_layout_;
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// For the case that the overall jacobian is not available, but the
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// individual jacobians are requested, use a pass-through scratch evaluate
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// preparer.
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ScratchEvaluatePreparer scratch_evaluate_preparer_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
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