1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 //
8 // * Redistributions of source code must retain the above copyright notice,
9 // this list of conditions and the following disclaimer.
10 // * Redistributions in binary form must reproduce the above copyright notice,
11 // this list of conditions and the following disclaimer in the documentation
12 // and/or other materials provided with the distribution.
13 // * Neither the name of Google Inc. nor the names of its contributors may be
14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
16 //
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27 // POSSIBILITY OF SUCH DAMAGE.
28 //
29 // Author: keir@google.com (Keir Mierle)
30
31 #include "ceres/block_evaluate_preparer.h"
32
33 #include <vector>
34 #include "ceres/block_sparse_matrix.h"
35 #include "ceres/casts.h"
36 #include "ceres/parameter_block.h"
37 #include "ceres/residual_block.h"
38 #include "ceres/sparse_matrix.h"
39
40 namespace ceres {
41 namespace internal {
42
Init(int const * const * jacobian_layout,int max_derivatives_per_residual_block)43 void BlockEvaluatePreparer::Init(int const* const* jacobian_layout,
44 int max_derivatives_per_residual_block) {
45 jacobian_layout_ = jacobian_layout;
46 scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block);
47 }
48
49 // Point the jacobian blocks directly into the block sparse matrix.
Prepare(const ResidualBlock * residual_block,int residual_block_index,SparseMatrix * jacobian,double ** jacobians)50 void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
51 int residual_block_index,
52 SparseMatrix* jacobian,
53 double** jacobians) {
54 // If the overall jacobian is not available, use the scratch space.
55 if (jacobian == NULL) {
56 scratch_evaluate_preparer_.Prepare(residual_block,
57 residual_block_index,
58 jacobian,
59 jacobians);
60 return;
61 }
62
63 double* jacobian_values =
64 down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
65
66 const int* jacobian_block_offset = jacobian_layout_[residual_block_index];
67 const int num_parameter_blocks = residual_block->NumParameterBlocks();
68 for (int j = 0; j < num_parameter_blocks; ++j) {
69 if (!residual_block->parameter_blocks()[j]->IsConstant()) {
70 jacobians[j] = jacobian_values + *jacobian_block_offset;
71
72 // The jacobian_block_offset can't be indexed with 'j' since the code
73 // that creates the layout strips out any blocks for inactive
74 // parameters. Instead, bump the pointer for active parameters only.
75 jacobian_block_offset++;
76 } else {
77 jacobians[j] = NULL;
78 }
79 }
80 }
81
82 } // namespace internal
83 } // namespace ceres
84