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// A scratch evaluate preparer provides temporary storage for the jacobians that 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// are created when running user-provided cost functions. The evaluator takes 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// care to avoid evaluating the jacobian for fixed parameters. 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#ifndef CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#define CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass Program; 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass ResidualBlock; 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass SparseMatrix; 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass ScratchEvaluatePreparer { 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create num_threads ScratchEvaluatePreparers. 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong static ScratchEvaluatePreparer* Create(const Program &program, 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_threads); 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // EvaluatePreparer interface 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void Init(int max_derivatives_per_residual_block); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void Prepare(const ResidualBlock* residual_block, 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int residual_block_index, 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SparseMatrix* jacobian, 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians); 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Scratch space for the jacobians; each jacobian is packed one after another. 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // There is enough scratch to hold all the jacobians for the largest residual. 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong scoped_array<double> jacobian_scratch_; 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#endif // CERES_INTERNAL_SCRATCH_EVALUATE_PREPARER_H_ 70