Carlos Hernandez | 79397c2 | 2014-08-07 17:51:38 -0700 | [diff] [blame] | 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 |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 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* |
| 43 | DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) { |
| 44 | return ScratchEvaluatePreparer::Create(*program_, num_threads); |
| 45 | } |
| 46 | |
| 47 | 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 | |
| 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 |