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// 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)
//
// A jacobian writer that writes to dense Eigen matrices.
#ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
#define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
#include <memory>
#include "ceres/casts.h"
#include "ceres/dense_sparse_matrix.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/export.h"
#include "ceres/parameter_block.h"
#include "ceres/program.h"
#include "ceres/residual_block.h"
#include "ceres/scratch_evaluate_preparer.h"
namespace ceres {
namespace internal {
class CERES_NO_EXPORT 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.
std::unique_ptr<ScratchEvaluatePreparer[]> CreateEvaluatePreparers(
int num_threads) {
return ScratchEvaluatePreparer::Create(*program_, num_threads);
}
std::unique_ptr<SparseMatrix> CreateJacobian() const {
return std::make_unique<DenseSparseMatrix>(
program_->NumResiduals(), program_->NumEffectiveParameters());
}
void Write(int residual_id,
int residual_offset,
double** jacobians,
SparseMatrix* jacobian) {
DenseSparseMatrix* 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->TangentSize();
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
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
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