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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6 // modification, are permitted provided that the following conditions are met:
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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
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15 // specific prior written permission.
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #ifndef CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
32 #define CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_
37 #include "ceres/evaluator.h"
38 #include "ceres/execution_summary.h"
39 #include "ceres/gradient_problem.h"
40 #include "ceres/internal/port.h"
41 #include "ceres/wall_time.h"
46 class GradientProblemEvaluator : public Evaluator {
48 explicit GradientProblemEvaluator(const GradientProblem& problem)
49 : problem_(problem) {}
50 virtual ~GradientProblemEvaluator() {}
51 virtual SparseMatrix* CreateJacobian() const { return NULL; }
52 virtual bool Evaluate(const EvaluateOptions& evaluate_options,
57 SparseMatrix* jacobian) {
58 CHECK(jacobian == NULL);
59 ScopedExecutionTimer total_timer("Evaluator::Total", &execution_summary_);
60 // The reason we use Residual and Jacobian here even when we are
61 // only computing the cost and gradient has to do with the fact
62 // that the line search minimizer code is used by both the
63 // GradientProblemSolver and the main CeresSolver coder where the
64 // Evaluator evaluates the Jacobian, and these magic strings need
65 // to be consistent across the code base for the time accounting
67 ScopedExecutionTimer call_type_timer(
68 gradient == NULL ? "Evaluator::Residual" : "Evaluator::Jacobian",
70 execution_summary_.IncrementCall(gradient == NULL ? "Evaluator::Residual"
71 : "Evaluator::Jacobian");
72 return problem_.Evaluate(state, cost, gradient);
75 virtual bool Plus(const double* state,
77 double* state_plus_delta) const {
78 return problem_.Plus(state, delta, state_plus_delta);
81 virtual int NumParameters() const {
82 return problem_.NumParameters();
85 virtual int NumEffectiveParameters() const {
86 return problem_.NumLocalParameters();
89 virtual int NumResiduals() const { return 1; }
91 virtual std::map<std::string, int> CallStatistics() const {
92 return execution_summary_.calls();
95 virtual std::map<std::string, double> TimeStatistics() const {
96 return execution_summary_.times();
100 const GradientProblem& problem_;
101 ::ceres::internal::ExecutionSummary execution_summary_;
104 } // namespace internal
107 #endif // CERES_INTERNAL_GRADIENT_PROBLEM_EVALUATOR_H_