1 // Ceres Solver - A fast non-linear least squares minimizer
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3 // http://ceres-solver.org/
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29 // Author: keir@google.com (Keir Mierle)
31 // A jacobian writer that directly writes to compressed row sparse matrices.
33 #ifndef CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
34 #define CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_
39 #include "ceres/evaluator.h"
40 #include "ceres/scratch_evaluate_preparer.h"
45 class CompressedRowSparseMatrix;
49 class CompressedRowJacobianWriter {
51 CompressedRowJacobianWriter(Evaluator::Options /* ignored */,
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 =
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);
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.
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,
86 std::vector<std::pair<int, int> >* evaluated_jacobian_blocks);
88 // JacobianWriter interface.
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.
94 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
95 return ScratchEvaluatePreparer::Create(*program_, num_threads);
98 SparseMatrix* CreateJacobian() const;
100 void Write(int residual_id,
103 SparseMatrix* base_jacobian);
109 } // namespace internal
112 #endif // CERES_INTERNAL_COMPRESSED_ROW_JACOBIAN_WRITER_H_