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 #include "ceres/scratch_evaluate_preparer.h" 32 33 #include "ceres/parameter_block.h" 34 #include "ceres/program.h" 35 #include "ceres/residual_block.h" 36 37 namespace ceres { 38 namespace internal { 39 40 ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create( 41 const Program &program, 42 int num_threads) { 43 ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads]; 44 int max_derivatives_per_residual_block = 45 program.MaxDerivativesPerResidualBlock(); 46 for (int i = 0; i < num_threads; i++) { 47 preparers[i].Init(max_derivatives_per_residual_block); 48 } 49 return preparers; 50 } 51 52 void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) { 53 jacobian_scratch_.reset( 54 new double[max_derivatives_per_residual_block]); 55 } 56 57 // Point the jacobian blocks into the scratch area of this evaluate preparer. 58 void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block, 59 int /* residual_block_index */, 60 SparseMatrix* /* jacobian */, 61 double** jacobians) { 62 double* jacobian_block_cursor = jacobian_scratch_.get(); 63 int num_residuals = residual_block->NumResiduals(); 64 int num_parameter_blocks = residual_block->NumParameterBlocks(); 65 for (int j = 0; j < num_parameter_blocks; ++j) { 66 const ParameterBlock* parameter_block = 67 residual_block->parameter_blocks()[j]; 68 if (parameter_block->IsConstant()) { 69 jacobians[j] = NULL; 70 } else { 71 jacobians[j] = jacobian_block_cursor; 72 jacobian_block_cursor += num_residuals * parameter_block->LocalSize(); 73 } 74 } 75 } 76 77 } // namespace internal 78 } // namespace ceres 79
