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@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 40namespace ceres { 41namespace internal { 42 43class Program; 44class SparseMatrix; 45 46class 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