1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 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
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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(
41 const Program &program,
42 int num_threads) {
43 ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
44 int max_derivatives_per_residual_block =
45 program.MaxDerivativesPerResidualBlock();
46 for (int i = 0; i < num_threads; i++) {
47 preparers[i].Init(max_derivatives_per_residual_block);
48 }
49 return preparers;
50 }
51
Init(int max_derivatives_per_residual_block)52 void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
53 jacobian_scratch_.reset(
54 new double[max_derivatives_per_residual_block]);
55 }
56
57 // Point the jacobian blocks into the scratch area of this evaluate preparer.
Prepare(const ResidualBlock * residual_block,int,SparseMatrix *,double ** jacobians)58 void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
59 int /* residual_block_index */,
60 SparseMatrix* /* jacobian */,
61 double** jacobians) {
62 double* jacobian_block_cursor = jacobian_scratch_.get();
63 int num_residuals = residual_block->NumResiduals();
64 int num_parameter_blocks = residual_block->NumParameterBlocks();
65 for (int j = 0; j < num_parameter_blocks; ++j) {
66 const ParameterBlock* parameter_block =
67 residual_block->parameter_blocks()[j];
68 if (parameter_block->IsConstant()) {
69 jacobians[j] = NULL;
70 } else {
71 jacobians[j] = jacobian_block_cursor;
72 jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
73 }
74 }
75 }
76
77 } // namespace internal
78 } // namespace ceres
79