1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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@google.com (Keir Mierle)
30
31 #include "ceres/scratch_evaluate_preparer.h"
32
33 #include "ceres/parameter_block.h"
34 #include "ceres/program.h"
35 #include "ceres/residual_block.h"
36
37 namespace ceres {
38 namespace internal {
39
Create(const Program & program,int num_threads)40 ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(const Program& program,
41 int num_threads) {
42 ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
43 int max_derivatives_per_residual_block =
44 program.MaxDerivativesPerResidualBlock();
45 for (int i = 0; i < num_threads; i++) {
46 preparers[i].Init(max_derivatives_per_residual_block);
47 }
48 return preparers;
49 }
50
Init(int max_derivatives_per_residual_block)51 void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
52 jacobian_scratch_.reset(new double[max_derivatives_per_residual_block]);
53 }
54
55 // Point the jacobian blocks into the scratch area of this evaluate preparer.
Prepare(const ResidualBlock * residual_block,int,SparseMatrix *,double ** jacobians)56 void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
57 int /* residual_block_index */,
58 SparseMatrix* /* jacobian */,
59 double** jacobians) {
60 double* jacobian_block_cursor = jacobian_scratch_.get();
61 int num_residuals = residual_block->NumResiduals();
62 int num_parameter_blocks = residual_block->NumParameterBlocks();
63 for (int j = 0; j < num_parameter_blocks; ++j) {
64 const ParameterBlock* parameter_block =
65 residual_block->parameter_blocks()[j];
66 if (parameter_block->IsConstant()) {
67 jacobians[j] = NULL;
68 } else {
69 jacobians[j] = jacobian_block_cursor;
70 jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
71 }
72 }
73 }
74
75 } // namespace internal
76 } // namespace ceres
77