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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/dynamic_compressed_row_jacobian_writer.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/dynamic_compressed_row_jacobian_writer.cc | 114 |
1 files changed, 0 insertions, 114 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/dynamic_compressed_row_jacobian_writer.cc b/extern/libmv/third_party/ceres/internal/ceres/dynamic_compressed_row_jacobian_writer.cc deleted file mode 100644 index b46cb797ff2..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/dynamic_compressed_row_jacobian_writer.cc +++ /dev/null @@ -1,114 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2014 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: richie.stebbing@gmail.com (Richard Stebbing) - -#include "ceres/compressed_row_jacobian_writer.h" -#include "ceres/dynamic_compressed_row_jacobian_writer.h" -#include "ceres/casts.h" -#include "ceres/dynamic_compressed_row_sparse_matrix.h" -#include "ceres/parameter_block.h" -#include "ceres/program.h" -#include "ceres/residual_block.h" - -namespace ceres { -namespace internal { - -ScratchEvaluatePreparer* -DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) { - return ScratchEvaluatePreparer::Create(*program_, num_threads); -} - -SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const { - // Initialize `jacobian` with zero number of `max_num_nonzeros`. - const int num_residuals = program_->NumResiduals(); - const int num_effective_parameters = program_->NumEffectiveParameters(); - - DynamicCompressedRowSparseMatrix* jacobian = - new DynamicCompressedRowSparseMatrix(num_residuals, - num_effective_parameters, - 0); - - vector<int>* row_blocks = jacobian->mutable_row_blocks(); - for (int i = 0; i < jacobian->num_rows(); ++i) { - row_blocks->push_back(1); - } - - vector<int>* col_blocks = jacobian->mutable_col_blocks(); - for (int i = 0; i < jacobian->num_cols(); ++i) { - col_blocks->push_back(1); - } - - return jacobian; -} - -void DynamicCompressedRowJacobianWriter::Write(int residual_id, - int residual_offset, - double **jacobians, - SparseMatrix* base_jacobian) { - DynamicCompressedRowSparseMatrix* jacobian = - down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian); - - // Get the `residual_block` of interest. - const ResidualBlock* residual_block = - program_->residual_blocks()[residual_id]; - const int num_residuals = residual_block->NumResiduals(); - - vector<pair<int, int> > evaluated_jacobian_blocks; - CompressedRowJacobianWriter::GetOrderedParameterBlocks( - program_, residual_id, &evaluated_jacobian_blocks); - - // `residual_offset` is the residual row in the global jacobian. - // Empty the jacobian rows. - jacobian->ClearRows(residual_offset, num_residuals); - - // Iterate over each parameter block. - for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) { - const ParameterBlock* parameter_block = - program_->parameter_blocks()[evaluated_jacobian_blocks[i].first]; - const int parameter_block_jacobian_index = - evaluated_jacobian_blocks[i].second; - const int parameter_block_size = parameter_block->LocalSize(); - - // For each parameter block only insert its non-zero entries. - for (int r = 0; r < num_residuals; ++r) { - for (int c = 0; c < parameter_block_size; ++c) { - const double& v = jacobians[parameter_block_jacobian_index][ - r * parameter_block_size + c]; - // Only insert non-zero entries. - if (v != 0.0) { - jacobian->InsertEntry( - residual_offset + r, parameter_block->delta_offset() + c, v); - } - } - } - } -} - -} // namespace internal -} // namespace ceres |