| // 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 |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: keir@google.com (Keir Mierle) |
| // |
| // A jacobian writer that directly writes to compressed row sparse matrices. |
| |
| #ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |
| #define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |
| |
| #include <memory> |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/evaluator.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/scratch_evaluate_preparer.h" |
| |
| namespace ceres::internal { |
| |
| class CompressedRowSparseMatrix; |
| class Program; |
| class SparseMatrix; |
| |
| class CERES_NO_EXPORT CompressedRowJacobianWriter { |
| public: |
| CompressedRowJacobianWriter(Evaluator::Options /* ignored */, |
| Program* program) |
| : program_(program) {} |
| |
| // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and |
| // row_blocks for a CompressedRowSparseMatrix, based on the |
| // parameter block sizes and residual sizes respectively from the |
| // program. This is useful when Solver::Options::use_block_amd = |
| // true; |
| // |
| // This function is static so that it is available to other jacobian |
| // writers which use CompressedRowSparseMatrix (or derived types). |
| // (Jacobian writers do not fall under any type hierarchy; they only |
| // have to provide an interface as specified in program_evaluator.h). |
| static void PopulateJacobianRowAndColumnBlockVectors( |
| const Program* program, CompressedRowSparseMatrix* jacobian); |
| |
| // It is necessary to determine the order of the jacobian blocks |
| // before copying them into a CompressedRowSparseMatrix (or derived |
| // type). Just because a cost function uses parameter blocks 1 |
| // after 2 in its arguments does not mean that the block 1 occurs |
| // before block 2 in the column layout of the jacobian. Thus, |
| // GetOrderedParameterBlocks determines the order by sorting the |
| // jacobian blocks by their position in the state vector. |
| // |
| // This function is static so that it is available to other jacobian |
| // writers which use CompressedRowSparseMatrix (or derived types). |
| // (Jacobian writers do not fall under any type hierarchy; they only |
| // have to provide an interface as specified in |
| // program_evaluator.h). |
| static void GetOrderedParameterBlocks( |
| const Program* program, |
| int residual_id, |
| std::vector<std::pair<int, int>>* evaluated_jacobian_blocks); |
| |
| // JacobianWriter interface. |
| |
| // Since the compressed row 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 |
| // in the Write() function. |
| std::unique_ptr<ScratchEvaluatePreparer[]> CreateEvaluatePreparers( |
| int num_threads) { |
| return ScratchEvaluatePreparer::Create(*program_, num_threads); |
| } |
| |
| std::unique_ptr<SparseMatrix> CreateJacobian() const; |
| |
| void Write(int residual_id, |
| int residual_offset, |
| double** jacobians, |
| SparseMatrix* base_jacobian); |
| |
| private: |
| Program* program_; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ |