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// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// 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];
const int num_parameter_blocks = residual_block->NumParameterBlocks();
const 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_