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@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 40namespace ceres { 41namespace internal { 42 43void 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. 50void 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