10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: keir@google.com (Keir Mierle) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/scratch_evaluate_preparer.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/parameter_block.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/program.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/residual_block.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongScratchEvaluatePreparer* ScratchEvaluatePreparer::Create( 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const Program &program, 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_threads) { 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads]; 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int max_derivatives_per_residual_block = 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong program.MaxDerivativesPerResidualBlock(); 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_threads; i++) { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong preparers[i].Init(max_derivatives_per_residual_block); 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return preparers; 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) { 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_scratch_.reset( 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong new double[max_derivatives_per_residual_block]); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Point the jacobian blocks into the scratch area of this evaluate preparer. 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block, 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int /* residual_block_index */, 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SparseMatrix* /* jacobian */, 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) { 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* jacobian_block_cursor = jacobian_scratch_.get(); 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_residuals = residual_block->NumResiduals(); 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_parameter_blocks = residual_block->NumParameterBlocks(); 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < num_parameter_blocks; ++j) { 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const ParameterBlock* parameter_block = 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residual_block->parameter_blocks()[j]; 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (parameter_block->IsConstant()) { 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobians[j] = NULL; 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else { 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobians[j] = jacobian_block_cursor; 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong jacobian_block_cursor += num_residuals * parameter_block->LocalSize(); 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 79