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      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 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:
     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.
     59   ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
     60     return ScratchEvaluatePreparer::Create(*program_, num_threads);
     61   }
     62 
     63   SparseMatrix* CreateJacobian() const {
     64     return new DenseSparseMatrix(program_->NumResiduals(),
     65                                  program_->NumEffectiveParameters(),
     66                                  true);
     67   }
     68 
     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