| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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 |
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| // |
| // Author: keir@google.com (Keir Mierle) |
| // |
| // A evaluate preparer which puts jacobian the evaluated jacobian blocks |
| // directly into their final resting place in an overall block sparse matrix. |
| // The evaluator takes care to avoid evaluating the jacobian for fixed |
| // parameters. |
| |
| #ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ |
| #define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ |
| |
| #include "ceres/internal/export.h" |
| #include "ceres/scratch_evaluate_preparer.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class ResidualBlock; |
| class SparseMatrix; |
| |
| class CERES_NO_EXPORT BlockEvaluatePreparer { |
| public: |
| // Using Init() instead of a constructor allows for allocating this structure |
| // with new[]. This is because C++ doesn't allow passing arguments to objects |
| // constructed with new[] (as opposed to plain 'new'). |
| void Init(int const* const* jacobian_layout, |
| int max_derivatives_per_residual_block); |
| |
| // EvaluatePreparer interface |
| |
| // Point the jacobian blocks directly into the block sparse matrix, if |
| // jacobian is non-null. Otherwise, uses an internal per-thread buffer to |
| // store the jacobians temporarily. |
| void Prepare(const ResidualBlock* residual_block, |
| int residual_block_index, |
| SparseMatrix* jacobian, |
| double** jacobians); |
| |
| private: |
| int const* const* jacobian_layout_; |
| |
| // For the case that the overall jacobian is not available, but the |
| // individual jacobians are requested, use a pass-through scratch evaluate |
| // preparer. |
| ScratchEvaluatePreparer scratch_evaluate_preparer_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ |