109 lines
4.1 KiB
C
109 lines
4.1 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: keir@google.com (Keir Mierle)
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//
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// A jacobian writer that writes to dense Eigen matrices.
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#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
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#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
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#include "ceres/casts.h"
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#include "ceres/dense_sparse_matrix.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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#include "ceres/scratch_evaluate_preparer.h"
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#include "ceres/internal/eigen.h"
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namespace ceres {
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namespace internal {
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class DenseJacobianWriter {
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public:
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DenseJacobianWriter(Evaluator::Options /* ignored */,
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Program* program)
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: program_(program) {
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}
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// JacobianWriter interface.
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// Since the dense matrix has different layout than that assumed by the cost
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// functions, use scratch space to store the jacobians temporarily then copy
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// them over to the larger jacobian later.
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ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
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return ScratchEvaluatePreparer::Create(*program_, num_threads);
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}
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SparseMatrix* CreateJacobian() const {
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return new DenseSparseMatrix(program_->NumResiduals(),
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program_->NumEffectiveParameters(),
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true);
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}
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void Write(int residual_id,
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int residual_offset,
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double **jacobians,
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SparseMatrix* jacobian) {
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DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
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const ResidualBlock* residual_block =
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program_->residual_blocks()[residual_id];
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int num_parameter_blocks = residual_block->NumParameterBlocks();
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int num_residuals = residual_block->NumResiduals();
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// Now copy the jacobians for each parameter into the dense jacobian matrix.
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for (int j = 0; j < num_parameter_blocks; ++j) {
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ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
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// If the parameter block is fixed, then there is nothing to do.
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if (parameter_block->IsConstant()) {
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continue;
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}
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const int parameter_block_size = parameter_block->LocalSize();
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ConstMatrixRef parameter_jacobian(jacobians[j],
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num_residuals,
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parameter_block_size);
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dense_jacobian->mutable_matrix().block(
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residual_offset,
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parameter_block->delta_offset(),
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num_residuals,
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parameter_block_size) = parameter_jacobian;
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}
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}
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private:
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Program* program_;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
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