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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: richie.stebbing@gmail.com (Richard Stebbing)
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/casts.h"
#include "ceres/compressed_row_jacobian_writer.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 {
using std::pair;
using std::vector;
ScratchEvaluatePreparer*
DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
return ScratchEvaluatePreparer::Create(*program_, num_threads);
}
SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
DynamicCompressedRowSparseMatrix* jacobian =
new DynamicCompressedRowSparseMatrix(program_->NumResiduals(),
program_->NumEffectiveParameters(),
0 /* max_num_nonzeros */);
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();
const double* parameter_jacobian =
jacobians[parameter_block_jacobian_index];
// 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, ++parameter_jacobian) {
const double v = *parameter_jacobian;
// Only insert non-zero entries.
if (v != 0.0) {
jacobian->InsertEntry(
residual_offset + r, parameter_block->delta_offset() + c, v);
}
}
}
}
}
} // namespace internal
} // namespace ceres
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