mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
caf614a6c1
Mostly done using
find . \( -name '*.cc' -o -name '*.h' \) -a -type f -exec clang-tidy -p \
cmake-build -checks='-*,google-*,modernize-*,-modernize-use-nodiscard,-modernize-use-trailing-return-type' {} -fix \;
Change-Id: Ifccbcabe7a1d9a32a09d28ac4f3f8466696c1a50
103 lines
4.2 KiB
C++
103 lines
4.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: richie.stebbing@gmail.com (Richard Stebbing)
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#include "ceres/dynamic_compressed_row_jacobian_writer.h"
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#include <memory>
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#include "ceres/casts.h"
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#include "ceres/compressed_row_jacobian_writer.h"
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#include "ceres/dynamic_compressed_row_sparse_matrix.h"
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#include "ceres/parameter_block.h"
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#include "ceres/program.h"
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#include "ceres/residual_block.h"
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namespace ceres::internal {
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using std::pair;
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using std::vector;
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std::unique_ptr<ScratchEvaluatePreparer[]>
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DynamicCompressedRowJacobianWriter::CreateEvaluatePreparers(int num_threads) {
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return ScratchEvaluatePreparer::Create(*program_, num_threads);
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}
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std::unique_ptr<SparseMatrix>
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DynamicCompressedRowJacobianWriter::CreateJacobian() const {
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return std::make_unique<DynamicCompressedRowSparseMatrix>(
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program_->NumResiduals(),
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program_->NumEffectiveParameters(),
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0 /* max_num_nonzeros */);
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}
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void DynamicCompressedRowJacobianWriter::Write(int residual_id,
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int residual_offset,
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double** jacobians,
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SparseMatrix* base_jacobian) {
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auto* jacobian = down_cast<DynamicCompressedRowSparseMatrix*>(base_jacobian);
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// Get the `residual_block` of interest.
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const ResidualBlock* residual_block =
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program_->residual_blocks()[residual_id];
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const int num_residuals = residual_block->NumResiduals();
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vector<pair<int, int>> evaluated_jacobian_blocks;
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CompressedRowJacobianWriter::GetOrderedParameterBlocks(
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program_, residual_id, &evaluated_jacobian_blocks);
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// `residual_offset` is the residual row in the global jacobian.
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// Empty the jacobian rows.
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jacobian->ClearRows(residual_offset, num_residuals);
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// Iterate over each parameter block.
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for (const auto& evaluated_jacobian_block : evaluated_jacobian_blocks) {
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const ParameterBlock* parameter_block =
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program_->parameter_blocks()[evaluated_jacobian_block.first];
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const int parameter_block_jacobian_index = evaluated_jacobian_block.second;
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const int parameter_block_size = parameter_block->TangentSize();
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const double* parameter_jacobian =
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jacobians[parameter_block_jacobian_index];
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// For each parameter block only insert its non-zero entries.
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for (int r = 0; r < num_residuals; ++r) {
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for (int c = 0; c < parameter_block_size; ++c, ++parameter_jacobian) {
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const double v = *parameter_jacobian;
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// Only insert non-zero entries.
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if (v != 0.0) {
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jacobian->InsertEntry(
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residual_offset + r, parameter_block->delta_offset() + c, v);
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}
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}
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}
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}
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}
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} // namespace ceres::internal
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