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 // A jacobian writer that writes to dense Eigen matrices. 32 33 #ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_ 34 #define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_ 35 36 #include "ceres/casts.h" 37 #include "ceres/dense_sparse_matrix.h" 38 #include "ceres/parameter_block.h" 39 #include "ceres/program.h" 40 #include "ceres/residual_block.h" 41 #include "ceres/scratch_evaluate_preparer.h" 42 #include "ceres/internal/eigen.h" 43 44 namespace ceres { 45 namespace internal { 46 47 class DenseJacobianWriter { 48 public: DenseJacobianWriter(Evaluator::Options,Program * program)49 DenseJacobianWriter(Evaluator::Options /* ignored */, 50 Program* program) 51 : program_(program) { 52 } 53 54 // JacobianWriter interface. 55 56 // Since the dense matrix has different layout than that assumed by the cost 57 // functions, use scratch space to store the jacobians temporarily then copy 58 // them over to the larger jacobian later. CreateEvaluatePreparers(int num_threads)59 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) { 60 return ScratchEvaluatePreparer::Create(*program_, num_threads); 61 } 62 CreateJacobian()63 SparseMatrix* CreateJacobian() const { 64 return new DenseSparseMatrix(program_->NumResiduals(), 65 program_->NumEffectiveParameters(), 66 true); 67 } 68 Write(int residual_id,int residual_offset,double ** jacobians,SparseMatrix * jacobian)69 void Write(int residual_id, 70 int residual_offset, 71 double **jacobians, 72 SparseMatrix* jacobian) { 73 DenseSparseMatrix* dense_jacobian; 74 if (jacobian != NULL) { 75 dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian); 76 } 77 const ResidualBlock* residual_block = 78 program_->residual_blocks()[residual_id]; 79 int num_parameter_blocks = residual_block->NumParameterBlocks(); 80 int num_residuals = residual_block->NumResiduals(); 81 82 // Now copy the jacobians for each parameter into the dense jacobian matrix. 83 for (int j = 0; j < num_parameter_blocks; ++j) { 84 ParameterBlock* parameter_block = residual_block->parameter_blocks()[j]; 85 86 // If the parameter block is fixed, then there is nothing to do. 87 if (parameter_block->IsConstant()) { 88 continue; 89 } 90 91 const int parameter_block_size = parameter_block->LocalSize(); 92 ConstMatrixRef parameter_jacobian(jacobians[j], 93 num_residuals, 94 parameter_block_size); 95 96 dense_jacobian->mutable_matrix().block( 97 residual_offset, 98 parameter_block->delta_offset(), 99 num_residuals, 100 parameter_block_size) = parameter_jacobian; 101 } 102 } 103 104 private: 105 Program* program_; 106 }; 107 108 } // namespace internal 109 } // namespace ceres 110 111 #endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_ 112