Sergey Sharybin
be9800e8da
This release deprecated the Parameterization API and the new Manifolds API is to be used instead. This is what was done in the Libmv as part of this change. Additionally, remove the bundling scripts. Nowadays those are only leading to a duplicated work to maintain. No measurable changes on user side is expected.
81 lines
3.9 KiB
C++
81 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2019 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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: mierle@gmail.com (Keir Mierle)
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#ifndef CERES_PUBLIC_EVALUATION_CALLBACK_H_
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#define CERES_PUBLIC_EVALUATION_CALLBACK_H_
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#include "ceres/internal/export.h"
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namespace ceres {
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// Using this callback interface, Ceres can notify you when it is
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// about to evaluate the residuals or jacobians. With the callback,
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// you can share computation between residual blocks by doing the
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// shared computation in PrepareForEvaluation() before Ceres calls
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// CostFunction::Evaluate(). It also enables caching results between a
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// pure residual evaluation and a residual & jacobian evaluation, via
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// the new_evaluation_point argument.
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//
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// One use case for this callback is if the cost function compute is
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// moved to the GPU. In that case, the prepare call does the actual
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// cost function evaluation, and subsequent calls from Ceres to the
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// actual cost functions merely copy the results from the GPU onto the
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// corresponding blocks for Ceres to plug into the solver.
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//
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// NOTE: Ceres provides no mechanism to share data other than the
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// notification from the callback. Users must provide access to
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// pre-computed shared data to their cost functions behind the scenes;
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// this all happens without Ceres knowing.
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//
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// One approach is to put a pointer to the shared data in each cost
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// function (recommended) or to use a global shared variable
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// (discouraged; bug-prone). As far as Ceres is concerned, it is
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// evaluating cost functions like any other; it just so happens that
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// behind the scenes the cost functions reuse pre-computed data to
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// execute faster.
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class CERES_EXPORT EvaluationCallback {
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public:
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virtual ~EvaluationCallback();
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// Called before Ceres requests residuals or jacobians for a given setting of
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// the parameters. User parameters (the double* values provided to the cost
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// functions) are fixed until the next call to PrepareForEvaluation(). If
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// new_evaluation_point == true, then this is a new point that is different
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// from the last evaluated point. Otherwise, it is the same point that was
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// evaluated previously (either jacobian or residual) and the user can use
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// cached results from previous evaluations.
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virtual void PrepareForEvaluation(bool evaluate_jacobians,
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bool new_evaluation_point) = 0;
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};
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} // namespace ceres
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#endif // CERES_PUBLIC_EVALUATION_CALLBACK_H_
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