| // 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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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: richie.stebbing@gmail.com (Richard Stebbing) |
| // |
| // A jacobian writer that directly writes to dynamic compressed row sparse |
| // matrices. |
| |
| #ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |
| #define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |
| |
| #include <memory> |
| |
| #include "ceres/evaluator.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/scratch_evaluate_preparer.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| class Program; |
| class SparseMatrix; |
| |
| class CERES_NO_EXPORT DynamicCompressedRowJacobianWriter { |
| public: |
| DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */, |
| Program* program) |
| : program_(program) {} |
| |
| // JacobianWriter interface. |
| |
| // The compressed row matrix has different layout than that assumed by |
| // the cost functions. The scratch space is therefore used to store |
| // the jacobians (including zeros) temporarily before only the non-zero |
| // entries are copied over to the larger jacobian in `Write`. |
| std::unique_ptr<ScratchEvaluatePreparer[]> CreateEvaluatePreparers( |
| int num_threads); |
| |
| // Return a `DynamicCompressedRowSparseMatrix` which is filled by |
| // `Write`. Note that `Finalize` must be called to make the |
| // `CompressedRowSparseMatrix` interface valid. |
| std::unique_ptr<SparseMatrix> CreateJacobian() const; |
| |
| // Write only the non-zero jacobian entries for a residual block |
| // (specified by `residual_id`) into `base_jacobian`, starting at the row |
| // specifed by `residual_offset`. |
| // |
| // This method is thread-safe over residual blocks (each `residual_id`). |
| void Write(int residual_id, |
| int residual_offset, |
| double** jacobians, |
| SparseMatrix* base_jacobian); |
| |
| private: |
| Program* program_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |