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  • Committer: Package Import Robot
  • Author(s): Jeremy Bicha
  • Date: 2013-03-06 12:08:47 UTC
  • mfrom: (1.5.1) (14.1.8 experimental)
  • Revision ID: package-import@ubuntu.com-20130306120847-frjfaryb2zrotwcg
Tags: 2.66a-1ubuntu1
https://launchpad.net/bugs/1076930
https://launchpad.net/bugs/1089256
https://launchpad.net/bugs/1052743
https://launchpad.net/bugs/999024
* Resynchronize with Debian (LP: #1076930, #1089256, #1052743, #999024,
  #1122888, #1147084)
* debian/control:
  - Lower build-depends on libavcodec-dev since we're not
    doing the libav9 transition in Ubuntu yet

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extern/libmv/third_party/ceres/internal/ceres/scratch_evaluate_preparer.cc
 
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// Ceres Solver - A fast non-linear least squares minimizer
 
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
 
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// http://code.google.com/p/ceres-solver/
 
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//
 
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// Redistribution and use in source and binary forms, with or without
 
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// modification, are permitted provided that the following conditions are met:
 
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//
 
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// * Redistributions of source code must retain the above copyright notice,
 
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//   this list of conditions and the following disclaimer.
 
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// * Redistributions in binary form must reproduce the above copyright notice,
 
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//   this list of conditions and the following disclaimer in the documentation
 
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//   and/or other materials provided with the distribution.
 
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// * Neither the name of Google Inc. nor the names of its contributors may be
 
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//   used to endorse or promote products derived from this software without
 
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//   specific prior written permission.
 
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//
 
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 
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// POSSIBILITY OF SUCH DAMAGE.
 
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//
 
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// Author: keir@google.com (Keir Mierle)
 
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#include "ceres/scratch_evaluate_preparer.h"
 
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#include "ceres/parameter_block.h"
 
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#include "ceres/program.h"
 
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#include "ceres/residual_block.h"
 
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namespace ceres {
 
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namespace internal {
 
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ScratchEvaluatePreparer* ScratchEvaluatePreparer::Create(
 
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    const Program &program,
 
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    int num_threads) {
 
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  ScratchEvaluatePreparer* preparers = new ScratchEvaluatePreparer[num_threads];
 
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  int max_derivatives_per_residual_block =
 
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      program.MaxDerivativesPerResidualBlock();
 
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  for (int i = 0; i < num_threads; i++) {
 
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    preparers[i].Init(max_derivatives_per_residual_block);
 
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  }
 
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  return preparers;
 
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}
 
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void ScratchEvaluatePreparer::Init(int max_derivatives_per_residual_block) {
 
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  jacobian_scratch_.reset(
 
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      new double[max_derivatives_per_residual_block]);
 
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}
 
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// Point the jacobian blocks into the scratch area of this evaluate preparer.
 
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void ScratchEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
 
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                                      int /* residual_block_index */,
 
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                                      SparseMatrix* /* jacobian */,
 
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                                      double** jacobians) {
 
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  double* jacobian_block_cursor = jacobian_scratch_.get();
 
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  int num_residuals = residual_block->NumResiduals();
 
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  int num_parameter_blocks = residual_block->NumParameterBlocks();
 
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  for (int j = 0; j < num_parameter_blocks; ++j) {
 
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    const ParameterBlock* parameter_block =
 
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        residual_block->parameter_blocks()[j];
 
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    if (parameter_block->IsConstant()) {
 
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      jacobians[j] = NULL;
 
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    } else {
 
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      jacobians[j] = jacobian_block_cursor;
 
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      jacobian_block_cursor += num_residuals * parameter_block->LocalSize();
 
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    }
 
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  }
 
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}
 
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}  // namespace internal
 
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}  // namespace ceres