118 lines
4.7 KiB
C++
118 lines
4.7 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: richie.stebbing@gmail.com (Richard Stebbing)
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#include "ceres/compressed_row_jacobian_writer.h"
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#include "ceres/dynamic_compressed_row_jacobian_writer.h"
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#include "ceres/casts.h"
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#include "ceres/dynamic_compressed_row_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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namespace ceres {
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namespace internal {
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using std::pair;
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using std::vector;
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ScratchEvaluatePreparer*
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DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
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return ScratchEvaluatePreparer::Create(*program_, num_threads);
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}
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SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
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// Initialize `jacobian` with zero number of `max_num_nonzeros`.
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const int num_residuals = program_->NumResiduals();
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const int num_effective_parameters = program_->NumEffectiveParameters();
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DynamicCompressedRowSparseMatrix* jacobian =
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new DynamicCompressedRowSparseMatrix(num_residuals,
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num_effective_parameters,
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0);
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vector<int>* row_blocks = jacobian->mutable_row_blocks();
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for (int i = 0; i < jacobian->num_rows(); ++i) {
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row_blocks->push_back(1);
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}
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vector<int>* col_blocks = jacobian->mutable_col_blocks();
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for (int i = 0; i < jacobian->num_cols(); ++i) {
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col_blocks->push_back(1);
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}
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return jacobian;
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}
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void DynamicCompressedRowJacobianWriter::Write(int residual_id,
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int residual_offset,
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double **jacobians,
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SparseMatrix* base_jacobian) {
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DynamicCompressedRowSparseMatrix* jacobian =
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down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
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// Get the `residual_block` of interest.
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const ResidualBlock* residual_block =
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program_->residual_blocks()[residual_id];
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const int num_residuals = residual_block->NumResiduals();
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vector<pair<int, int> > evaluated_jacobian_blocks;
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CompressedRowJacobianWriter::GetOrderedParameterBlocks(
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program_, residual_id, &evaluated_jacobian_blocks);
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// `residual_offset` is the residual row in the global jacobian.
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// Empty the jacobian rows.
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jacobian->ClearRows(residual_offset, num_residuals);
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// Iterate over each parameter block.
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for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
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const ParameterBlock* parameter_block =
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program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
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const int parameter_block_jacobian_index =
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evaluated_jacobian_blocks[i].second;
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const int parameter_block_size = parameter_block->LocalSize();
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// For each parameter block only insert its non-zero entries.
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for (int r = 0; r < num_residuals; ++r) {
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for (int c = 0; c < parameter_block_size; ++c) {
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const double& v = jacobians[parameter_block_jacobian_index][
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r * parameter_block_size + c];
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// Only insert non-zero entries.
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if (v != 0.0) {
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jacobian->InsertEntry(
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residual_offset + r, parameter_block->delta_offset() + c, v);
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}
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}
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}
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}
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}
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} // namespace internal
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} // namespace ceres
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