Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/dynamic_compressed_row_jacobian_writer.h

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: richie.stebbing@gmail.com (Richard Stebbing)
//
// A jacobian writer that directly writes to dynamic compressed row sparse
// matrices.

#ifndef CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_
#define CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_

#include <memory>

#include "ceres/evaluator.h"
#include "ceres/internal/export.h"
#include "ceres/scratch_evaluate_preparer.h"

namespace ceres::internal {

class Program;
class SparseMatrix;

class CERES_NO_EXPORT DynamicCompressedRowJacobianWriter {
 public:
  DynamicCompressedRowJacobianWriter(Evaluator::Options /* ignored */,
                                     Program* program)
      : program_(program) {}

  // JacobianWriter interface.

  // The compressed row matrix has different layout than that assumed by
  // the cost functions. The scratch space is therefore used to store
  // the jacobians (including zeros) temporarily before only the non-zero
  // entries are copied over to the larger jacobian in `Write`.
  std::unique_ptr<ScratchEvaluatePreparer[]> CreateEvaluatePreparers(
      int num_threads);

  // Return a `DynamicCompressedRowSparseMatrix` which is filled by
  // `Write`. Note that `Finalize` must be called to make the
  // `CompressedRowSparseMatrix` interface valid.
  std::unique_ptr<SparseMatrix> CreateJacobian() const;

  // Write only the non-zero jacobian entries for a residual block
  // (specified by `residual_id`) into `base_jacobian`, starting at the row
  // specified by `residual_offset`.
  //
  // This method is thread-safe over residual blocks (each `residual_id`).
  void Write(int residual_id,
             int residual_offset,
             double** jacobians,
             SparseMatrix* base_jacobian);

 private:
  Program* program_;
};

}  // namespace ceres::internal

#endif  // CERES_INTERNAL_DYNAMIC_COMPRESSED_ROW_JACOBIAN_WRITER_H_