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 evaluate preparer which puts jacobian the evaluated jacobian blocks 32 // directly into their final resting place in an overall block sparse matrix. 33 // The evaluator takes care to avoid evaluating the jacobian for fixed 34 // parameters. 35 36 #ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ 37 #define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ 38 39 #include "ceres/scratch_evaluate_preparer.h" 40 41 namespace ceres { 42 namespace internal { 43 44 class ResidualBlock; 45 class SparseMatrix; 46 47 class BlockEvaluatePreparer { 48 public: 49 // Using Init() instead of a constructor allows for allocating this structure 50 // with new[]. This is because C++ doesn't allow passing arguments to objects 51 // constructed with new[] (as opposed to plain 'new'). 52 void Init(int const* const* jacobian_layout, 53 int max_derivatives_per_residual_block); 54 55 // EvaluatePreparer interface 56 57 // Point the jacobian blocks directly into the block sparse matrix, if 58 // jacobian is non-null. Otherwise, uses an internal per-thread buffer to 59 // store the jacobians temporarily. 60 void Prepare(const ResidualBlock* residual_block, 61 int residual_block_index, 62 SparseMatrix* jacobian, 63 double** jacobians); 64 65 private: 66 int const* const* jacobian_layout_; 67 68 // For the case that the overall jacobian is not available, but the 69 // individual jacobians are requested, use a pass-through scratch evaluate 70 // preparer. 71 ScratchEvaluatePreparer scratch_evaluate_preparer_; 72 }; 73 74 } // namespace internal 75 } // namespace ceres 76 77 #endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_ 78
