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76 lines
3.9 KiB
76 lines
3.9 KiB
3 years ago
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 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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namespace ceres {
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// Using this callback interface, Ceres can notify you when it is about to
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// evaluate the residuals or jacobians. With the callback, you can share
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// computation between residual blocks by doing the shared computation in
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// PrepareForEvaluation() before Ceres calls CostFunction::Evaluate() on all
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// the residuals. It also enables caching results between a pure residual
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// evaluation and a residual & jacobian evaluation, via the
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// 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 moved to
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// the GPU. In that case, the prepare call does the actual cost function
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// evaluation, and subsequent calls from Ceres to the actual cost functions
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// merely copy the results from the GPU onto the corresponding blocks for Ceres
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// to plug into the solver.
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//
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// NOTE: Ceres provides no mechanism to share data other than the notification
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// from the callback. Users must provide access to pre-computed shared data to
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// their cost functions behind the scenes; this all happens without Ceres
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// knowing. 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 (discouraged;
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// bug-prone). As far as Ceres is concerned, it is evaluating cost functions
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// like any other; it just so happens that behind the scenes the cost functions
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// reuse pre-computed data to 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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