1// Ceres Solver - A fast non-linear least squares minimizer
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3// http://code.google.com/p/ceres-solver/
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29// Author: keir@google.com (Keir Mierle)
30
31#include "ceres/dense_sparse_matrix.h"
32
33#include <algorithm>
34#include "ceres/matrix_proto.h"
35#include "ceres/triplet_sparse_matrix.h"
36#include "ceres/internal/eigen.h"
37#include "ceres/internal/port.h"
38
39namespace ceres {
40namespace internal {
41
42DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
43    : has_diagonal_appended_(false),
44      has_diagonal_reserved_(false) {
45  // Allocate enough space for the diagonal.
46  m_.resize(num_rows, num_cols);
47  m_.setZero();
48}
49
50DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal)
51    : has_diagonal_appended_(false),
52      has_diagonal_reserved_(reserve_diagonal) {
53  // Allocate enough space for the diagonal.
54  if (reserve_diagonal) {
55    m_.resize(num_rows +  num_cols, num_cols);
56  } else {
57    m_.resize(num_rows, num_cols);
58  }
59  m_.setZero();
60}
61
62DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
63    : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())),
64      has_diagonal_appended_(false),
65      has_diagonal_reserved_(false) {
66  const double *values = m.values();
67  const int *rows = m.rows();
68  const int *cols = m.cols();
69  int num_nonzeros = m.num_nonzeros();
70
71  for (int i = 0; i < num_nonzeros; ++i) {
72    m_(rows[i], cols[i]) += values[i];
73  }
74}
75
76DenseSparseMatrix::DenseSparseMatrix(const Matrix& m)
77    : m_(m),
78      has_diagonal_appended_(false),
79      has_diagonal_reserved_(false) {
80}
81
82#ifndef CERES_NO_PROTOCOL_BUFFERS
83DenseSparseMatrix::DenseSparseMatrix(const SparseMatrixProto& outer_proto)
84    : m_(Eigen::MatrixXd::Zero(
85        outer_proto.dense_matrix().num_rows(),
86        outer_proto.dense_matrix().num_cols())),
87      has_diagonal_appended_(false),
88      has_diagonal_reserved_(false) {
89  const DenseSparseMatrixProto& proto = outer_proto.dense_matrix();
90  for (int i = 0; i < m_.rows(); ++i) {
91    for (int j = 0; j < m_.cols(); ++j) {
92      m_(i, j) = proto.values(m_.cols() * i + j);
93    }
94  }
95}
96#endif
97
98void DenseSparseMatrix::SetZero() {
99  m_.setZero();
100}
101
102void DenseSparseMatrix::RightMultiply(const double* x, double* y) const {
103  VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols());
104}
105
106void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const {
107  VectorRef(y, num_cols()) +=
108      matrix().transpose() * ConstVectorRef(x, num_rows());
109}
110
111void DenseSparseMatrix::SquaredColumnNorm(double* x) const {
112  VectorRef(x, num_cols()) = m_.colwise().squaredNorm();
113}
114
115void DenseSparseMatrix::ScaleColumns(const double* scale) {
116  m_ *= ConstVectorRef(scale, num_cols()).asDiagonal();
117}
118
119void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
120  *dense_matrix = m_;
121}
122
123#ifndef CERES_NO_PROTOCOL_BUFFERS
124void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const {
125  CHECK(!has_diagonal_appended_) << "Not supported.";
126  outer_proto->Clear();
127  DenseSparseMatrixProto* proto = outer_proto->mutable_dense_matrix();
128
129  proto->set_num_rows(num_rows());
130  proto->set_num_cols(num_cols());
131
132  int num_nnz = num_nonzeros();
133  for (int i = 0; i < num_nnz; ++i) {
134    proto->add_values(m_.data()[i]);
135  }
136}
137#endif
138
139void DenseSparseMatrix::AppendDiagonal(double *d) {
140  CHECK(!has_diagonal_appended_);
141  if (!has_diagonal_reserved_) {
142    Matrix tmp = m_;
143    m_.resize(m_.rows() + m_.cols(), m_.cols());
144    m_.setZero();
145    m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp;
146    has_diagonal_reserved_ = true;
147  }
148
149  m_.bottomLeftCorner(m_.cols(), m_.cols()) =
150      ConstVectorRef(d, m_.cols()).asDiagonal();
151  has_diagonal_appended_ = true;
152}
153
154void DenseSparseMatrix::RemoveDiagonal() {
155  CHECK(has_diagonal_appended_);
156  has_diagonal_appended_ = false;
157  // Leave the diagonal reserved.
158}
159
160int DenseSparseMatrix::num_rows() const {
161  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
162    return m_.rows() - m_.cols();
163  }
164  return m_.rows();
165}
166
167int DenseSparseMatrix::num_cols() const {
168  return m_.cols();
169}
170
171int DenseSparseMatrix::num_nonzeros() const {
172  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
173    return (m_.rows() - m_.cols()) * m_.cols();
174  }
175  return m_.rows() * m_.cols();
176}
177
178ConstAlignedMatrixRef DenseSparseMatrix::matrix() const {
179  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
180    return ConstAlignedMatrixRef(
181        m_.data(), m_.rows() - m_.cols(), m_.cols());
182  }
183  return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
184}
185
186AlignedMatrixRef DenseSparseMatrix::mutable_matrix() {
187  if (has_diagonal_reserved_ && !has_diagonal_appended_) {
188    return AlignedMatrixRef(
189        m_.data(), m_.rows() - m_.cols(), m_.cols());
190  }
191  return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
192}
193
194void DenseSparseMatrix::ToTextFile(FILE* file) const {
195  CHECK_NOTNULL(file);
196  const int active_rows =
197      (has_diagonal_reserved_ && !has_diagonal_appended_)
198      ? (m_.rows() - m_.cols())
199      : m_.rows();
200
201  for (int r = 0; r < active_rows; ++r) {
202    for (int c = 0; c < m_.cols(); ++c) {
203      fprintf(file,  "% 10d % 10d %17f\n", r, c, m_(r, c));
204    }
205  }
206}
207
208}  // namespace internal
209}  // namespace ceres
210