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Support evaluation on residuals and Jacobian from pyceres.Problem #49

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merged 8 commits into from
Jun 26, 2024
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Support evaluation on residuals and Jacobian from pyceres.Problem #49

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b5f66b0
update.
B1ueber2y Jun 20, 2024
97319e6
formatting.
B1ueber2y Jun 20, 2024
0fd4d44
add support for partial evaluation
B1ueber2y Jun 20, 2024
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formatting.
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4e4c77c
update.
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1432ab6
update,
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80f0d41
minor.
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minor.
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20 changes: 13 additions & 7 deletions _pyceres/core/crs_matrix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -13,14 +13,21 @@ namespace py = pybind11;

namespace {
py::tuple ConvertCRSToPyTuple(const ceres::CRSMatrix& crsMatrix) {
std::vector<int> rows, cols;
std::vector<double> values;
size_t n_values = crsMatrix.values.size();
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py::array_t<int> rows(n_values), cols(n_values);
py::array_t<double> values(n_values);

int* rows_data = static_cast<int*>(rows.request().ptr);
int* cols_data = static_cast<int*>(cols.request().ptr);
double* values_data = static_cast<double*>(values.request().ptr);
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int counter = 0;
for (int row = 0; row < crsMatrix.num_rows; ++row) {
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for (int k = crsMatrix.rows[row]; k < crsMatrix.rows[row + 1]; ++k) {
rows.push_back(row);
cols.push_back(crsMatrix.cols[k]);
values.push_back(crsMatrix.values[k]);
rows_data[counter] = row;
cols_data[counter] = crsMatrix.cols[k];
values_data[counter] = crsMatrix.values[k];
counter++;
}
}

Expand All @@ -38,6 +45,5 @@ void BindCRSMatrix(py::module& m) {
.def_readonly("rows", &CRSMatrix::rows)
.def_readonly("cols", &CRSMatrix::cols)
.def_readonly("values", &CRSMatrix::values)
.def("to_tuple",
[](CRSMatrix& self) { return ConvertCRSToPyTuple(self); });
.def("to_tuple", &ConvertCRSToPyTuple);
}
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