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      1 // Ceres Solver - A fast non-linear least squares minimizer
      2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
      3 // http://code.google.com/p/ceres-solver/
      4 //
      5 // Redistribution and use in source and binary forms, with or without
      6 // modification, are permitted provided that the following conditions are met:
      7 //
      8 // * Redistributions of source code must retain the above copyright notice,
      9 //   this list of conditions and the following disclaimer.
     10 // * Redistributions in binary form must reproduce the above copyright notice,
     11 //   this list of conditions and the following disclaimer in the documentation
     12 //   and/or other materials provided with the distribution.
     13 // * Neither the name of Google Inc. nor the names of its contributors may be
     14 //   used to endorse or promote products derived from this software without
     15 //   specific prior written permission.
     16 //
     17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
     18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
     19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
     20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
     21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
     22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
     23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
     24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
     25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
     26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
     27 // POSSIBILITY OF SUCH DAMAGE.
     28 //
     29 // Author: keir (at) google.com (Keir Mierle)
     30 //
     31 // A jacobian writer that directly writes to compressed row sparse matrices.
     32 
     33 #ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
     34 #define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
     35 
     36 #include "ceres/evaluator.h"
     37 #include "ceres/scratch_evaluate_preparer.h"
     38 
     39 namespace ceres {
     40 namespace internal {
     41 
     42 class Program;
     43 class SparseMatrix;
     44 
     45 class CompressedRowJacobianWriter {
     46  public:
     47   CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
     48                               Program* program)
     49     : program_(program) {
     50   }
     51 
     52   // JacobianWriter interface.
     53 
     54   // Since the compressed row matrix has different layout than that assumed by
     55   // the cost functions, use scratch space to store the jacobians temporarily
     56   // then copy them over to the larger jacobian in the Write() function.
     57   ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
     58     return ScratchEvaluatePreparer::Create(*program_, num_threads);
     59   }
     60 
     61   SparseMatrix* CreateJacobian() const;
     62 
     63   void Write(int residual_id,
     64              int residual_offset,
     65              double **jacobians,
     66              SparseMatrix* base_jacobian);
     67 
     68  private:
     69   Program* program_;
     70 };
     71 
     72 }  // namespace internal
     73 }  // namespace ceres
     74 
     75 #endif  // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
     76