xref: /external/ceres-solver/internal/ceres/dynamic_compressed_row_jacobian_writer.cc

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2014 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
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// Author: richie.stebbing@gmail.com (Richard Stebbing)

#include "ceres/compressed_row_jacobian_writer.h"
#include "ceres/dynamic_compressed_row_jacobian_writer.h"
#include "ceres/casts.h"
#include "ceres/dynamic_compressed_row_sparse_matrix.h"
#include "ceres/parameter_block.h"
#include "ceres/program.h"
#include "ceres/residual_block.h"

namespace ceres {
namespace internal {

ScratchEvaluatePreparer*
DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
  return ScratchEvaluatePreparer::Create(*program_, num_threads);
}

SparseMatrix* DynamicCompressedRowJacobianWriter::CreateJacobian() const {
  // Initialize `jacobian` with zero number of `max_num_nonzeros`.
  const int num_residuals = program_->NumResiduals();
  const int num_effective_parameters = program_->NumEffectiveParameters();

  DynamicCompressedRowSparseMatrix* jacobian =
      new DynamicCompressedRowSparseMatrix(num_residuals,
                                           num_effective_parameters,
                                           0);

  CompressedRowJacobianWriter::PopulateJacobianRowAndColumnBlockVectors(
      program_, jacobian);

  return jacobian;
}

void DynamicCompressedRowJacobianWriter::Write(int residual_id,
                                               int residual_offset,
                                               double **jacobians,
                                               SparseMatrix* base_jacobian) {
  DynamicCompressedRowSparseMatrix* jacobian =
    down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);

  // Get the `residual_block` of interest.
  const ResidualBlock* residual_block =
      program_->residual_blocks()[residual_id];
  const int num_residuals = residual_block->NumResiduals();

  vector<pair<int, int> > evaluated_jacobian_blocks;
  CompressedRowJacobianWriter::GetOrderedParameterBlocks(
    program_, residual_id, &evaluated_jacobian_blocks);

  // `residual_offset` is the residual row in the global jacobian.
  // Empty the jacobian rows.
  jacobian->ClearRows(residual_offset, num_residuals);

  // Iterate over each parameter block.
  for (int i = 0; i < evaluated_jacobian_blocks.size(); ++i) {
    const ParameterBlock* parameter_block =
        program_->parameter_blocks()[evaluated_jacobian_blocks[i].first];
    const int parameter_block_jacobian_index =
        evaluated_jacobian_blocks[i].second;
    const int parameter_block_size = parameter_block->LocalSize();

    // For each parameter block only insert its non-zero entries.
    for (int r = 0; r < num_residuals; ++r) {
      for (int c = 0; c < parameter_block_size; ++c) {
        const double& v = jacobians[parameter_block_jacobian_index][
            r * parameter_block_size + c];
        // Only insert non-zero entries.
        if (v != 0.0) {
          jacobian->InsertEntry(
            residual_offset + r, parameter_block->delta_offset() + c, v);
        }
      }
    }
  }
}

}  // namespace internal
}  // namespace ceres