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//
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16//
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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