Squashed 'third_party/ceres/' content from commit e51e9b4
Change-Id: I763587619d57e594d3fa158dc3a7fe0b89a1743b
git-subtree-dir: third_party/ceres
git-subtree-split: e51e9b46f6ca88ab8b2266d0e362771db6d98067
diff --git a/internal/ceres/block_evaluate_preparer.cc b/internal/ceres/block_evaluate_preparer.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// Author: keir@google.com (Keir Mierle)
+
+#include "ceres/block_evaluate_preparer.h"
+
+#include <vector>
+#include "ceres/block_sparse_matrix.h"
+#include "ceres/casts.h"
+#include "ceres/parameter_block.h"
+#include "ceres/residual_block.h"
+#include "ceres/sparse_matrix.h"
+
+namespace ceres {
+namespace internal {
+
+void BlockEvaluatePreparer::Init(int const* const* jacobian_layout,
+ int max_derivatives_per_residual_block) {
+ jacobian_layout_ = jacobian_layout;
+ scratch_evaluate_preparer_.Init(max_derivatives_per_residual_block);
+}
+
+// Point the jacobian blocks directly into the block sparse matrix.
+void BlockEvaluatePreparer::Prepare(const ResidualBlock* residual_block,
+ int residual_block_index,
+ SparseMatrix* jacobian,
+ double** jacobians) {
+ // If the overall jacobian is not available, use the scratch space.
+ if (jacobian == NULL) {
+ scratch_evaluate_preparer_.Prepare(residual_block,
+ residual_block_index,
+ jacobian,
+ jacobians);
+ return;
+ }
+
+ double* jacobian_values =
+ down_cast<BlockSparseMatrix*>(jacobian)->mutable_values();
+
+ const int* jacobian_block_offset = jacobian_layout_[residual_block_index];
+ const int num_parameter_blocks = residual_block->NumParameterBlocks();
+ for (int j = 0; j < num_parameter_blocks; ++j) {
+ if (!residual_block->parameter_blocks()[j]->IsConstant()) {
+ jacobians[j] = jacobian_values + *jacobian_block_offset;
+
+ // The jacobian_block_offset can't be indexed with 'j' since the code
+ // that creates the layout strips out any blocks for inactive
+ // parameters. Instead, bump the pointer for active parameters only.
+ jacobian_block_offset++;
+ } else {
+ jacobians[j] = NULL;
+ }
+ }
+}
+
+} // namespace internal
+} // namespace ceres