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 (at) google.com (Keir Mierle) 30 // 31 // A jacobian writer that directly writes to compressed row sparse matrices. 32 33 #ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 34 #define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 35 36 #include "ceres/evaluator.h" 37 #include "ceres/scratch_evaluate_preparer.h" 38 39 namespace ceres { 40 namespace internal { 41 42 class CompressedRowSparseMatrix; 43 class Program; 44 class SparseMatrix; 45 46 class CompressedRowJacobianWriter { 47 public: 48 CompressedRowJacobianWriter(Evaluator::Options /* ignored */, 49 Program* program) 50 : program_(program) { 51 } 52 53 // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and 54 // row_blocks for a CompressedRowSparseMatrix, based on the 55 // parameter block sizes and residual sizes respectively from the 56 // program. This is useful when Solver::Options::use_block_amd = 57 // true; 58 // 59 // This function is static so that it is available to other jacobian 60 // writers which use CompressedRowSparseMatrix (or derived types). 61 // (Jacobian writers do not fall under any type hierarchy; they only 62 // have to provide an interface as specified in program_evaluator.h). 63 static void PopulateJacobianRowAndColumnBlockVectors( 64 const Program* program, 65 CompressedRowSparseMatrix* jacobian); 66 67 // It is necessary to determine the order of the jacobian blocks 68 // before copying them into a CompressedRowSparseMatrix (or derived 69 // type). Just because a cost function uses parameter blocks 1 70 // after 2 in its arguments does not mean that the block 1 occurs 71 // before block 2 in the column layout of the jacobian. Thus, 72 // GetOrderedParameterBlocks determines the order by sorting the 73 // jacobian blocks by their position in the state vector. 74 // 75 // This function is static so that it is available to other jacobian 76 // writers which use CompressedRowSparseMatrix (or derived types). 77 // (Jacobian writers do not fall under any type hierarchy; they only 78 // have to provide an interface as specified in 79 // program_evaluator.h). 80 static void GetOrderedParameterBlocks( 81 const Program* program, 82 int residual_id, 83 vector<pair<int, int> >* evaluated_jacobian_blocks); 84 85 // JacobianWriter interface. 86 87 // Since the compressed row matrix has different layout than that 88 // assumed by the cost functions, use scratch space to store the 89 // jacobians temporarily then copy them over to the larger jacobian 90 // in the Write() function. 91 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) { 92 return ScratchEvaluatePreparer::Create(*program_, num_threads); 93 } 94 95 SparseMatrix* CreateJacobian() const; 96 97 void Write(int residual_id, 98 int residual_offset, 99 double **jacobians, 100 SparseMatrix* base_jacobian); 101 102 private: 103 Program* program_; 104 }; 105 106 } // namespace internal 107 } // namespace ceres 108 109 #endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 110
