1 // Ceres Solver - A fast non-linear least squares minimizer
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29 // Author: keir@google.com (Keir Mierle)
31 // A jacobian writer that writes to dense Eigen matrices.
33 #ifndef CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
34 #define CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_
36 #include "ceres/casts.h"
37 #include "ceres/dense_sparse_matrix.h"
38 #include "ceres/parameter_block.h"
39 #include "ceres/program.h"
40 #include "ceres/residual_block.h"
41 #include "ceres/scratch_evaluate_preparer.h"
42 #include "ceres/internal/eigen.h"
47 class DenseJacobianWriter {
49 DenseJacobianWriter(Evaluator::Options /* ignored */,
54 // JacobianWriter interface.
56 // Since the dense matrix has different layout than that assumed by the cost
57 // functions, use scratch space to store the jacobians temporarily then copy
58 // them over to the larger jacobian later.
59 ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) {
60 return ScratchEvaluatePreparer::Create(*program_, num_threads);
63 SparseMatrix* CreateJacobian() const {
64 return new DenseSparseMatrix(program_->NumResiduals(),
65 program_->NumEffectiveParameters(),
69 void Write(int residual_id,
72 SparseMatrix* jacobian) {
73 DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
74 const ResidualBlock* residual_block =
75 program_->residual_blocks()[residual_id];
76 int num_parameter_blocks = residual_block->NumParameterBlocks();
77 int num_residuals = residual_block->NumResiduals();
79 // Now copy the jacobians for each parameter into the dense jacobian matrix.
80 for (int j = 0; j < num_parameter_blocks; ++j) {
81 ParameterBlock* parameter_block = residual_block->parameter_blocks()[j];
83 // If the parameter block is fixed, then there is nothing to do.
84 if (parameter_block->IsConstant()) {
88 const int parameter_block_size = parameter_block->LocalSize();
89 ConstMatrixRef parameter_jacobian(jacobians[j],
91 parameter_block_size);
93 dense_jacobian->mutable_matrix().block(
95 parameter_block->delta_offset(),
97 parameter_block_size) = parameter_jacobian;
105 } // namespace internal
108 #endif // CERES_INTERNAL_DENSE_JACOBIAN_WRITER_H_