109 lines
4.1 KiB
C++
109 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: keir@google.com (Keir Mierle)
|
|
//
|
|
// A jacobian writer that writes to dense Eigen matrices.
|
|
|
|
#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
|
|
#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
|
|
|
|
#include "ceres/casts.h"
|
|
#include "ceres/dense_sparse_matrix.h"
|
|
#include "ceres/parameter_block.h"
|
|
#include "ceres/program.h"
|
|
#include "ceres/residual_block.h"
|
|
#include "ceres/scratch_evaluate_preparer.h"
|
|
#include "ceres/internal/eigen.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
class DenseJacobianWriter {
|
|
public:
|
|
DenseJacobianWriter(Evaluator::Options /* ignored */,
|
|
Program* program)
|
|
: program_(program) {
|
|
}
|
|
|
|
// JacobianWriter interface.
|
|
|
|
// Since the dense matrix has different layout than that assumed by the cost
|
|
// functions, use scratch space to store the jacobians temporarily then copy
|
|
// them over to the larger jacobian later.
|
|
ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
|
|
return ScratchEvaluatePreparer::Create(*program_, num_threads);
|
|
}
|
|
|
|
SparseMatrix* CreateJacobian() const {
|
|
return new DenseSparseMatrix(program_->NumResiduals(),
|
|
program_->NumEffectiveParameters(),
|
|
true);
|
|
}
|
|
|
|
void Write(int residual_id,
|
|
int residual_offset,
|
|
double **jacobians,
|
|
SparseMatrix* jacobian) {
|
|
DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
|
|
const ResidualBlock* residual_block =
|
|
program_->residual_blocks()[residual_id];
|
|
int num_parameter_blocks = residual_block->NumParameterBlocks();
|
|
int num_residuals = residual_block->NumResiduals();
|
|
|
|
// Now copy the jacobians for each parameter into the dense jacobian matrix.
|
|
for (int j = 0; j < num_parameter_blocks; ++j) {
|
|
ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
|
|
|
|
// If the parameter block is fixed, then there is nothing to do.
|
|
if (parameter_block->IsConstant()) {
|
|
continue;
|
|
}
|
|
|
|
const int parameter_block_size = parameter_block->LocalSize();
|
|
ConstMatrixRef parameter_jacobian(jacobians[j],
|
|
num_residuals,
|
|
parameter_block_size);
|
|
|
|
dense_jacobian->mutable_matrix().block(
|
|
residual_offset,
|
|
parameter_block->delta_offset(),
|
|
num_residuals,
|
|
parameter_block_size) = parameter_jacobian;
|
|
}
|
|
}
|
|
|
|
private:
|
|
Program* program_;
|
|
};
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
|