| // 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: keir@google.com (Keir Mierle) |
| |
| #include "ceres/block_evaluate_preparer.h" |
| |
| #include <vector> |
| |
| #include "ceres/block_sparse_matrix.h" |
| #include "ceres/casts.h" |
| #include "ceres/parameter_block.h" |
| #include "ceres/residual_block.h" |
| #include "ceres/sparse_matrix.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| void BlockEvaluatePreparer::Init(int const* const* jacobian_layout, |
| int max_derivatives_per_residual_block) { |
| jacobian_layout_ = jacobian_layout; |
| scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block); |
| } |
| |
| // Point the jacobian blocks directly into the block sparse matrix. |
| void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block, |
| int residual_block_index, |
| SparseMatrix* jacobian, |
| double** jacobians) { |
| // If the overall jacobian is not available, use the scratch space. |
| if (jacobian == NULL) { |
| scratch_evaluate_preparer_.Prepare( |
| residual_block, residual_block_index, jacobian, jacobians); |
| return; |
| } |
| |
| double* jacobian_values = |
| down_cast<BlockSparseMatrix*>(jacobian)->mutable_values(); |
| |
| const int* jacobian_block_offset = jacobian_layout_[residual_block_index]; |
| const int num_parameter_blocks = residual_block->NumParameterBlocks(); |
| for (int j = 0; j < num_parameter_blocks; ++j) { |
| if (!residual_block->parameter_blocks()[j]->IsConstant()) { |
| jacobians[j] = jacobian_values + *jacobian_block_offset; |
| |
| // The jacobian_block_offset can't be indexed with 'j' since the code |
| // that creates the layout strips out any blocks for inactive |
| // parameters. Instead, bump the pointer for active parameters only. |
| jacobian_block_offset++; |
| } else { |
| jacobians[j] = NULL; |
| } |
| } |
| } |
| |
| } // namespace internal |
| } // namespace ceres |