1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
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
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14 // used to endorse or promote products derived from this software without
15 // specific prior written permission.
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
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29 // Author: keir@google.com (Keir Mierle)
31 #include "ceres/block_evaluate_preparer.h"
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"
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);
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,
54 // If the overall jacobian is not available, use the scratch space.
55 if (jacobian == NULL) {
56 scratch_evaluate_preparer_.Prepare(residual_block,
63 double* jacobian_values =
64 down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
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;
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++;
82 } // namespace internal