113 lines
4.5 KiB
C++
113 lines
4.5 KiB
C++
// 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 directly writes to compressed row sparse matrices.
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#ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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#define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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#include <utility>
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#include <vector>
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#include "ceres/evaluator.h"
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#include "ceres/scratch_evaluate_preparer.h"
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namespace ceres {
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namespace internal {
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class CompressedRowSparseMatrix;
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class Program;
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class SparseMatrix;
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class CompressedRowJacobianWriter {
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public:
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CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
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Program* program)
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: program_(program) {
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}
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// PopulateJacobianRowAndColumnBlockVectors sets col_blocks and
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// row_blocks for a CompressedRowSparseMatrix, based on the
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// parameter block sizes and residual sizes respectively from the
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// program. This is useful when Solver::Options::use_block_amd =
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// true;
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//
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// This function is static so that it is available to other jacobian
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// writers which use CompressedRowSparseMatrix (or derived types).
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// (Jacobian writers do not fall under any type hierarchy; they only
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// have to provide an interface as specified in program_evaluator.h).
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static void PopulateJacobianRowAndColumnBlockVectors(
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const Program* program,
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CompressedRowSparseMatrix* jacobian);
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// It is necessary to determine the order of the jacobian blocks
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// before copying them into a CompressedRowSparseMatrix (or derived
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// type). Just because a cost function uses parameter blocks 1
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// after 2 in its arguments does not mean that the block 1 occurs
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// before block 2 in the column layout of the jacobian. Thus,
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// GetOrderedParameterBlocks determines the order by sorting the
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// jacobian blocks by their position in the state vector.
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//
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// This function is static so that it is available to other jacobian
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// writers which use CompressedRowSparseMatrix (or derived types).
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// (Jacobian writers do not fall under any type hierarchy; they only
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// have to provide an interface as specified in
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// program_evaluator.h).
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static void GetOrderedParameterBlocks(
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const Program* program,
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int residual_id,
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std::vector<std::pair<int, int> >* evaluated_jacobian_blocks);
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// JacobianWriter interface.
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// Since the compressed row matrix has different layout than that
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// assumed by the cost functions, use scratch space to store the
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// jacobians temporarily then copy them over to the larger jacobian
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// in the Write() function.
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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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void 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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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_COMPRESSED_ROW_JACOBIAN_WRITER_H_
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