diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/block_jacobian_writer.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/block_jacobian_writer.cc | 212 |
1 files changed, 0 insertions, 212 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/block_jacobian_writer.cc b/extern/libmv/third_party/ceres/internal/ceres/block_jacobian_writer.cc deleted file mode 100644 index f90c350cc80..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/block_jacobian_writer.cc +++ /dev/null @@ -1,212 +0,0 @@ -// 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) - -#include "ceres/block_jacobian_writer.h" - -#include "ceres/block_evaluate_preparer.h" -#include "ceres/block_sparse_matrix.h" -#include "ceres/parameter_block.h" -#include "ceres/program.h" -#include "ceres/residual_block.h" -#include "ceres/internal/eigen.h" -#include "ceres/internal/port.h" -#include "ceres/internal/scoped_ptr.h" - -namespace ceres { -namespace internal { -namespace { - -// Given the residual block ordering, build a lookup table to determine which -// per-parameter jacobian goes where in the overall program jacobian. -// -// Since we expect to use a Schur type linear solver to solve the LM step, take -// extra care to place the E blocks and the F blocks contiguously. E blocks are -// the first num_eliminate_blocks parameter blocks as indicated by the parameter -// block ordering. The remaining parameter blocks are the F blocks. -// -// TODO(keir): Consider if we should use a boolean for each parameter block -// instead of num_eliminate_blocks. -void BuildJacobianLayout(const Program& program, - int num_eliminate_blocks, - vector<int*>* jacobian_layout, - vector<int>* jacobian_layout_storage) { - const vector<ResidualBlock*>& residual_blocks = program.residual_blocks(); - - // Iterate over all the active residual blocks and determine how many E blocks - // are there. This will determine where the F blocks start in the jacobian - // matrix. Also compute the number of jacobian blocks. - int f_block_pos = 0; - int num_jacobian_blocks = 0; - for (int i = 0; i < residual_blocks.size(); ++i) { - ResidualBlock* residual_block = residual_blocks[i]; - const int num_residuals = residual_block->NumResiduals(); - const int num_parameter_blocks = residual_block->NumParameterBlocks(); - - // Advance f_block_pos over each E block for this residual. - for (int j = 0; j < num_parameter_blocks; ++j) { - ParameterBlock* parameter_block = residual_block->parameter_blocks()[j]; - if (!parameter_block->IsConstant()) { - // Only count blocks for active parameters. - num_jacobian_blocks++; - if (parameter_block->index() < num_eliminate_blocks) { - f_block_pos += num_residuals * parameter_block->LocalSize(); - } - } - } - } - - // We now know that the E blocks are laid out starting at zero, and the F - // blocks are laid out starting at f_block_pos. Iterate over the residual - // blocks again, and this time fill the jacobian_layout array with the - // position information. - - jacobian_layout->resize(program.NumResidualBlocks()); - jacobian_layout_storage->resize(num_jacobian_blocks); - - int e_block_pos = 0; - int* jacobian_pos = &(*jacobian_layout_storage)[0]; - for (int i = 0; i < residual_blocks.size(); ++i) { - const ResidualBlock* residual_block = residual_blocks[i]; - const int num_residuals = residual_block->NumResiduals(); - const int num_parameter_blocks = residual_block->NumParameterBlocks(); - - (*jacobian_layout)[i] = jacobian_pos; - for (int j = 0; j < num_parameter_blocks; ++j) { - ParameterBlock* parameter_block = residual_block->parameter_blocks()[j]; - const int parameter_block_index = parameter_block->index(); - if (parameter_block->IsConstant()) { - continue; - } - const int jacobian_block_size = - num_residuals * parameter_block->LocalSize(); - if (parameter_block_index < num_eliminate_blocks) { - *jacobian_pos = e_block_pos; - e_block_pos += jacobian_block_size; - } else { - *jacobian_pos = f_block_pos; - f_block_pos += jacobian_block_size; - } - jacobian_pos++; - } - } -} - -} // namespace - -BlockJacobianWriter::BlockJacobianWriter(const Evaluator::Options& options, - Program* program) - : program_(program) { - CHECK_GE(options.num_eliminate_blocks, 0) - << "num_eliminate_blocks must be greater than 0."; - - BuildJacobianLayout(*program, - options.num_eliminate_blocks, - &jacobian_layout_, - &jacobian_layout_storage_); -} - -// Create evaluate prepareres that point directly into the final jacobian. This -// makes the final Write() a nop. -BlockEvaluatePreparer* BlockJacobianWriter::CreateEvaluatePreparers( - int num_threads) { - int max_derivatives_per_residual_block = - program_->MaxDerivativesPerResidualBlock(); - - BlockEvaluatePreparer* preparers = new BlockEvaluatePreparer[num_threads]; - for (int i = 0; i < num_threads; i++) { - preparers[i].Init(&jacobian_layout_[0], max_derivatives_per_residual_block); - } - return preparers; -} - -SparseMatrix* BlockJacobianWriter::CreateJacobian() const { - CompressedRowBlockStructure* bs = new CompressedRowBlockStructure; - - const vector<ParameterBlock*>& parameter_blocks = - program_->parameter_blocks(); - - // Construct the column blocks. - bs->cols.resize(parameter_blocks.size()); - for (int i = 0, cursor = 0; i < parameter_blocks.size(); ++i) { - CHECK_NE(parameter_blocks[i]->index(), -1); - CHECK(!parameter_blocks[i]->IsConstant()); - bs->cols[i].size = parameter_blocks[i]->LocalSize(); - bs->cols[i].position = cursor; - cursor += bs->cols[i].size; - } - - // Construct the cells in each row. - const vector<ResidualBlock*>& residual_blocks = - program_->residual_blocks(); - int row_block_position = 0; - bs->rows.resize(residual_blocks.size()); - for (int i = 0; i < residual_blocks.size(); ++i) { - const ResidualBlock* residual_block = residual_blocks[i]; - CompressedRow* row = &bs->rows[i]; - - row->block.size = residual_block->NumResiduals(); - row->block.position = row_block_position; - row_block_position += row->block.size; - - // Size the row by the number of active parameters in this residual. - const int num_parameter_blocks = residual_block->NumParameterBlocks(); - int num_active_parameter_blocks = 0; - for (int j = 0; j < num_parameter_blocks; ++j) { - if (residual_block->parameter_blocks()[j]->index() != -1) { - num_active_parameter_blocks++; - } - } - row->cells.resize(num_active_parameter_blocks); - - // Add layout information for the active parameters in this row. - for (int j = 0, k = 0; j < num_parameter_blocks; ++j) { - const ParameterBlock* parameter_block = - residual_block->parameter_blocks()[j]; - if (!parameter_block->IsConstant()) { - Cell& cell = row->cells[k]; - cell.block_id = parameter_block->index(); - cell.position = jacobian_layout_[i][k]; - - // Only increment k for active parameters, since there is only layout - // information for active parameters. - k++; - } - } - - sort(row->cells.begin(), row->cells.end(), CellLessThan); - } - - BlockSparseMatrix* jacobian = new BlockSparseMatrix(bs); - CHECK_NOTNULL(jacobian); - return jacobian; -} - -} // namespace internal -} // namespace ceres |