diff options
Diffstat (limited to 'internal/ceres/dense_jacobian_writer.h')
-rw-r--r-- | internal/ceres/dense_jacobian_writer.h | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/internal/ceres/dense_jacobian_writer.h b/internal/ceres/dense_jacobian_writer.h new file mode 100644 index 0000000..be743a8 --- /dev/null +++ b/internal/ceres/dense_jacobian_writer.h @@ -0,0 +1,111 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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; + if (jacobian != NULL) { + 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_ |