1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2015 Google Inc. All rights reserved. 3 // http://ceres-solver.org/ 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@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 <utility> 37 #include <vector> 38 39 #include "ceres/evaluator.h" 40 #include "ceres/scratch_evaluate_preparer.h" 41 42 namespace ceres { 43 namespace internal { 44 45 class CompressedRowSparseMatrix; 46 class Program; 47 class SparseMatrix; 48 49 class CompressedRowJacobianWriter { 50 public: CompressedRowJacobianWriter(Evaluator::Options,Program * program)51 CompressedRowJacobianWriter(Evaluator::Options /* ignored */, 52 Program* program) 53 : program_(program) { 54 } 55 56 // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and 57 // row_blocks for a CompressedRowSparseMatrix, based on the 58 // parameter block sizes and residual sizes respectively from the 59 // program. This is useful when Solver::Options::use_block_amd = 60 // true; 61 // 62 // This function is static so that it is available to other jacobian 63 // writers which use CompressedRowSparseMatrix (or derived types). 64 // (Jacobian writers do not fall under any type hierarchy; they only 65 // have to provide an interface as specified in program_evaluator.h). 66 static void PopulateJacobianRowAndColumnBlockVectors( 67 const Program* program, 68 CompressedRowSparseMatrix* jacobian); 69 70 // It is necessary to determine the order of the jacobian blocks 71 // before copying them into a CompressedRowSparseMatrix (or derived 72 // type). Just because a cost function uses parameter blocks 1 73 // after 2 in its arguments does not mean that the block 1 occurs 74 // before block 2 in the column layout of the jacobian. Thus, 75 // GetOrderedParameterBlocks determines the order by sorting the 76 // jacobian blocks by their position in the state vector. 77 // 78 // This function is static so that it is available to other jacobian 79 // writers which use CompressedRowSparseMatrix (or derived types). 80 // (Jacobian writers do not fall under any type hierarchy; they only 81 // have to provide an interface as specified in 82 // program_evaluator.h). 83 static void GetOrderedParameterBlocks( 84 const Program* program, 85 int residual_id, 86 std::vector<std::pair<int, int>>* evaluated_jacobian_blocks); 87 88 // JacobianWriter interface. 89 90 // Since the compressed row matrix has different layout than that 91 // assumed by the cost functions, use scratch space to store the 92 // jacobians temporarily then copy them over to the larger jacobian 93 // in the Write() function. CreateEvaluatePreparers(int num_threads)94 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) { 95 return ScratchEvaluatePreparer::Create(*program_, num_threads); 96 } 97 98 SparseMatrix* CreateJacobian() const; 99 100 void Write(int residual_id, 101 int residual_offset, 102 double **jacobians, 103 SparseMatrix* base_jacobian); 104 105 private: 106 Program* program_; 107 }; 108 109 } // namespace internal 110 } // namespace ceres 111 112 #endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_ 113