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 #include "ceres/block_evaluate_preparer.h" 32 33 #include <vector> 34 #include "ceres/block_sparse_matrix.h" 35 #include "ceres/casts.h" 36 #include "ceres/parameter_block.h" 37 #include "ceres/residual_block.h" 38 #include "ceres/sparse_matrix.h" 39 40 namespace ceres { 41 namespace internal { 42 43 void BlockEvaluatePreparer::Init(int const* const* jacobian_layout, 44 int max_derivatives_per_residual_block) { 45 jacobian_layout_ = jacobian_layout; 46 scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block); 47 } 48 49 // Point the jacobian blocks directly into the block sparse matrix. 50 void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block, 51 int residual_block_index, 52 SparseMatrix* jacobian, 53 double** jacobians) { 54 // If the overall jacobian is not available, use the scratch space. 55 if (jacobian == NULL) { 56 scratch_evaluate_preparer_.Prepare(residual_block, 57 residual_block_index, 58 jacobian, 59 jacobians); 60 return; 61 } 62 63 double* jacobian_values = 64 down_cast<BlockSparseMatrix*>(jacobian)->mutable_values(); 65 66 const int* jacobian_block_offset = jacobian_layout_[residual_block_index]; 67 const int num_parameter_blocks = residual_block->NumParameterBlocks(); 68 for (int j = 0; j < num_parameter_blocks; ++j) { 69 if (!residual_block->parameter_blocks()[j]->IsConstant()) { 70 jacobians[j] = jacobian_values + *jacobian_block_offset; 71 72 // The jacobian_block_offset can't be indexed with 'j' since the code 73 // that creates the layout strips out any blocks for inactive 74 // parameters. Instead, bump the pointer for active parameters only. 75 jacobian_block_offset++; 76 } else { 77 jacobians[j] = NULL; 78 } 79 } 80 } 81 82 } // namespace internal 83 } // namespace ceres 84
