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Diffstat (limited to 'extern/ceres/internal/ceres/block_evaluate_preparer.cc')
-rw-r--r-- | extern/ceres/internal/ceres/block_evaluate_preparer.cc | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/block_evaluate_preparer.cc b/extern/ceres/internal/ceres/block_evaluate_preparer.cc new file mode 100644 index 00000000000..59c0d3ecc10 --- /dev/null +++ b/extern/ceres/internal/ceres/block_evaluate_preparer.cc @@ -0,0 +1,83 @@ +// 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) + +#include "ceres/block_evaluate_preparer.h" + +#include <vector> +#include "ceres/block_sparse_matrix.h" +#include "ceres/casts.h" +#include "ceres/parameter_block.h" +#include "ceres/residual_block.h" +#include "ceres/sparse_matrix.h" + +namespace ceres { +namespace internal { + +void BlockEvaluatePreparer::Init(int const* const* jacobian_layout, + int max_derivatives_per_residual_block) { + jacobian_layout_ = jacobian_layout; + scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block); +} + +// Point the jacobian blocks directly into the block sparse matrix. +void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block, + int residual_block_index, + SparseMatrix* jacobian, + double** jacobians) { + // If the overall jacobian is not available, use the scratch space. + if (jacobian == NULL) { + scratch_evaluate_preparer_.Prepare(residual_block, + residual_block_index, + jacobian, + jacobians); + return; + } + + double* jacobian_values = + down_cast<BlockSparseMatrix*>(jacobian)->mutable_values(); + + const int* jacobian_block_offset = jacobian_layout_[residual_block_index]; + const int num_parameter_blocks = residual_block->NumParameterBlocks(); + for (int j = 0; j < num_parameter_blocks; ++j) { + if (!residual_block->parameter_blocks()[j]->IsConstant()) { + jacobians[j] = jacobian_values + *jacobian_block_offset; + + // The jacobian_block_offset can't be indexed with 'j' since the code + // that creates the layout strips out any blocks for inactive + // parameters. Instead, bump the pointer for active parameters only. + jacobian_block_offset++; + } else { + jacobians[j] = NULL; + } + } +} + +} // namespace internal +} // namespace ceres |