1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: keir@google.com (Keir Mierle)
31 // A evaluate preparer which puts jacobian the evaluated jacobian blocks
32 // directly into their final resting place in an overall block sparse matrix.
33 // The evaluator takes care to avoid evaluating the jacobian for fixed
36 #ifndef CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
37 #define CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_
39 #include "ceres/scratch_evaluate_preparer.h"
47 class BlockEvaluatePreparer {
49 // Using Init() instead of a constructor allows for allocating this structure
50 // with new[]. This is because C++ doesn't allow passing arguments to objects
51 // constructed with new[] (as opposed to plain 'new').
52 void Init(int const* const* jacobian_layout,
53 int max_derivatives_per_residual_block);
55 // EvaluatePreparer interface
57 // Point the jacobian blocks directly into the block sparse matrix, if
58 // jacobian is non-null. Otherwise, uses an internal per-thread buffer to
59 // store the jacobians temporarily.
60 void Prepare(const ResidualBlock* residual_block,
61 int residual_block_index,
62 SparseMatrix* jacobian,
66 int const* const* jacobian_layout_;
68 // For the case that the overall jacobian is not available, but the
69 // individual jacobians are requested, use a pass-through scratch evaluate
71 ScratchEvaluatePreparer scratch_evaluate_preparer_;
74 } // namespace internal
77 #endif // CERES_INTERNAL_BLOCK_EVALUATE_PREPARER_H_