1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2014 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: richie.stebbing (at) gmail.com (Richard Stebbing) 30 // 31 // A jacobian writer that directly writes to dynamic compressed row sparse 32 // matrices. 33 34 #ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 35 #define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 36 37 #include "ceres/evaluator.h" 38 #include "ceres/scratch_evaluate_preparer.h" 39 40 namespace ceres { 41 namespace internal { 42 43 class Program; 44 class SparseMatrix; 45 46 class DynamicCompressedRowJacobianWriter { 47 public: 48 DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */, 49 Program* program) 50 : program_(program) { 51 } 52 53 // JacobianWriter interface. 54 55 // The compressed row matrix has different layout than that assumed by 56 // the cost functions. The scratch space is therefore used to store 57 // the jacobians (including zeros) temporarily before only the non-zero 58 // entries are copied over to the larger jacobian in `Write`. 59 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads); 60 61 // Return a `DynamicCompressedRowSparseMatrix` which is filled by 62 // `Write`. Note that `Finalize` must be called to make the 63 // `CompressedRowSparseMatrix` interface valid. 64 SparseMatrix* CreateJacobian() const; 65 66 // Write only the non-zero jacobian entries for a residual block 67 // (specified by `residual_id`) into `base_jacobian`, starting at the row 68 // specifed by `residual_offset`. 69 // 70 // This method is thread-safe over residual blocks (each `residual_id`). 71 void Write(int residual_id, 72 int residual_offset, 73 double **jacobians, 74 SparseMatrix* base_jacobian); 75 76 private: 77 Program* program_; 78 }; 79 80 } // namespace internal 81 } // namespace ceres 82 83 #endif // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 84
