1 // Ceres Solver - A fast non-linear least squares minimizer
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29 // Author: keir@google.com (Keir Mierle)
30 //
31 // A jacobian writer that writes to dense Eigen matrices.
32 
33 #ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
34 #define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
35 
36 #include "ceres/casts.h"
37 #include "ceres/dense_sparse_matrix.h"
38 #include "ceres/parameter_block.h"
39 #include "ceres/program.h"
40 #include "ceres/residual_block.h"
41 #include "ceres/scratch_evaluate_preparer.h"
42 #include "ceres/internal/eigen.h"
43 
44 namespace ceres {
45 namespace internal {
46 
47 class DenseJacobianWriter {
48  public:
DenseJacobianWriter(Evaluator::Options,Program * program)49   DenseJacobianWriter(Evaluator::Options /* ignored */,
50                       Program* program)
51     : program_(program) {
52   }
53 
54   // JacobianWriter interface.
55 
56   // Since the dense matrix has different layout than that assumed by the cost
57   // functions, use scratch space to store the jacobians temporarily then copy
58   // them over to the larger jacobian later.
CreateEvaluatePreparers(int num_threads)59   ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
60     return ScratchEvaluatePreparer::Create(*program_, num_threads);
61   }
62 
CreateJacobian()63   SparseMatrix* CreateJacobian() const {
64     return new DenseSparseMatrix(program_->NumResiduals(),
65                                  program_->NumEffectiveParameters(),
66                                  true);
67   }
68 
Write(int residual_id,int residual_offset,double ** jacobians,SparseMatrix * jacobian)69   void Write(int residual_id,
70              int residual_offset,
71              double **jacobians,
72              SparseMatrix* jacobian) {
73     DenseSparseMatrix* dense_jacobian;
74     if (jacobian != NULL) {
75       dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
76     }
77     const ResidualBlock* residual_block =
78         program_->residual_blocks()[residual_id];
79     int num_parameter_blocks = residual_block->NumParameterBlocks();
80     int num_residuals = residual_block->NumResiduals();
81 
82     // Now copy the jacobians for each parameter into the dense jacobian matrix.
83     for (int j = 0; j < num_parameter_blocks; ++j) {
84       ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
85 
86       // If the parameter block is fixed, then there is nothing to do.
87       if (parameter_block->IsConstant()) {
88         continue;
89       }
90 
91       const int parameter_block_size = parameter_block->LocalSize();
92       ConstMatrixRef parameter_jacobian(jacobians[j],
93                                         num_residuals,
94                                         parameter_block_size);
95 
96       dense_jacobian->mutable_matrix().block(
97           residual_offset,
98           parameter_block->delta_offset(),
99           num_residuals,
100           parameter_block_size) = parameter_jacobian;
101     }
102   }
103 
104  private:
105   Program* program_;
106 };
107 
108 }  // namespace internal
109 }  // namespace ceres
110 
111 #endif  // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
112