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 scratch evaluate preparer provides temporary storage for the jacobians that 32 // are created when running user-provided cost functions. The evaluator takes 33 // care to avoid evaluating the jacobian for fixed parameters. 34 35 #ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 36 #define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 37 38 #include "ceres/internal/scoped_ptr.h" 39 40 namespace ceres { 41 namespace internal { 42 43 class Program; 44 class ResidualBlock; 45 class SparseMatrix; 46 47 class ScratchEvaluatePreparer { 48 public: 49 // Create num_threads ScratchEvaluatePreparers. 50 static ScratchEvaluatePreparer* Create(const Program &program, 51 int num_threads); 52 53 // EvaluatePreparer interface 54 void Init(int max_derivatives_per_residual_block); 55 void Prepare(const ResidualBlock* residual_block, 56 int residual_block_index, 57 SparseMatrix* jacobian, 58 double** jacobians); 59 60 private: 61 // Scratch space for the jacobians; each jacobian is packed one after another. 62 // There is enough scratch to hold all the jacobians for the largest residual. 63 scoped_array<double> jacobian_scratch_; 64 }; 65 66 } // namespace internal 67 } // namespace ceres 68 69 #endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 70
