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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: keir@google.com (Keir Mierle)
#include "ceres/scratch_evaluate_preparer.h"
#include <memory>
#include "ceres/parameter_block.h"
#include "ceres/program.h"
#include "ceres/residual_block.h"
namespace ceres {
namespace internal {
std::unique_ptr<ScratchEvaluatePreparer[]> ScratchEvaluatePreparer::Create(
const Program& program, int num_threads) {
auto preparers = std::make_unique<ScratchEvaluatePreparer[]>(num_threads);
int max_derivatives_per_residual_block =
program.MaxDerivativesPerResidualBlock();
for (int i = 0; i < num_threads; i++) {
preparers[i].Init(max_derivatives_per_residual_block);
}
return preparers;
}
void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
jacobian_scratch_ =
std::make_unique<double[]>(max_derivatives_per_residual_block);
}
// Point the jacobian blocks into the scratch area of this evaluate preparer.
void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
int /* residual_block_index */,
SparseMatrix* /* jacobian */,
double** jacobians) {
double* jacobian_block_cursor = jacobian_scratch_.get();
int num_residuals = residual_block->NumResiduals();
int num_parameter_blocks = residual_block->NumParameterBlocks();
for (int j = 0; j < num_parameter_blocks; ++j) {
const ParameterBlock* parameter_block =
residual_block->parameter_blocks()[j];
if (parameter_block->IsConstant()) {
jacobians[j] = nullptr;
} else {
jacobians[j] = jacobian_block_cursor;
jacobian_block_cursor += num_residuals * parameter_block->TangentSize();
}
}
}
} // namespace internal
} // namespace ceres
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