1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2014 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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28 //
29 // Author: richie.stebbing@gmail.com (Richard Stebbing)
30
31 #include "ceres/compressed_row_jacobian_writer.h"
32 #include "ceres/dynamic_compressed_row_jacobian_writer.h"
33 #include "ceres/casts.h"
34 #include "ceres/dynamic_compressed_row_sparse_matrix.h"
35 #include "ceres/parameter_block.h"
36 #include "ceres/program.h"
37 #include "ceres/residual_block.h"
38
39 namespace ceres {
40 namespace internal {
41
42 ScratchEvaluatePreparer*
CreateEvaluatePreparers(int num_threads)43 DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
44 return ScratchEvaluatePreparer::Create(*program_, num_threads);
45 }
46
CreateJacobian() const47 SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
48 // Initialize `jacobian` with zero number of `max_num_nonzeros`.
49 const int num_residuals = program_->NumResiduals();
50 const int num_effective_parameters = program_->NumEffectiveParameters();
51
52 DynamicCompressedRowSparseMatrix* jacobian =
53 new DynamicCompressedRowSparseMatrix(num_residuals,
54 num_effective_parameters,
55 0);
56
57 CompressedRowJacobianWriter::PopulateJacobianRowAndColumnBlockVectors(
58 program_, jacobian);
59
60 return jacobian;
61 }
62
Write(int residual_id,int residual_offset,double ** jacobians,SparseMatrix * base_jacobian)63 void DynamicCompressedRowJacobianWriter::Write(int residual_id,
64 int residual_offset,
65 double **jacobians,
66 SparseMatrix* base_jacobian) {
67 DynamicCompressedRowSparseMatrix* jacobian =
68 down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
69
70 // Get the `residual_block` of interest.
71 const ResidualBlock* residual_block =
72 program_->residual_blocks()[residual_id];
73 const int num_residuals = residual_block->NumResiduals();
74
75 vector<pair<int, int> > evaluated_jacobian_blocks;
76 CompressedRowJacobianWriter::GetOrderedParameterBlocks(
77 program_, residual_id, &evaluated_jacobian_blocks);
78
79 // `residual_offset` is the residual row in the global jacobian.
80 // Empty the jacobian rows.
81 jacobian->ClearRows(residual_offset, num_residuals);
82
83 // Iterate over each parameter block.
84 for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
85 const ParameterBlock* parameter_block =
86 program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
87 const int parameter_block_jacobian_index =
88 evaluated_jacobian_blocks[i].second;
89 const int parameter_block_size = parameter_block->LocalSize();
90
91 // For each parameter block only insert its non-zero entries.
92 for (int r = 0; r < num_residuals; ++r) {
93 for (int c = 0; c < parameter_block_size; ++c) {
94 const double& v = jacobians[parameter_block_jacobian_index][
95 r * parameter_block_size + c];
96 // Only insert non-zero entries.
97 if (v != 0.0) {
98 jacobian->InsertEntry(
99 residual_offset + r, parameter_block->delta_offset() + c, v);
100 }
101 }
102 }
103 }
104 }
105
106 } // namespace internal
107 } // namespace ceres
108