1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2013 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#include "ceres/block_random_access_crs_matrix.h" 32 33#include <algorithm> 34#include <set> 35#include <utility> 36#include <vector> 37#include "ceres/compressed_row_sparse_matrix.h" 38#include "ceres/internal/port.h" 39#include "ceres/internal/scoped_ptr.h" 40#include "ceres/mutex.h" 41#include "ceres/triplet_sparse_matrix.h" 42#include "ceres/types.h" 43#include "glog/logging.h" 44 45namespace ceres { 46namespace internal { 47 48BlockRandomAccessCRSMatrix::BlockRandomAccessCRSMatrix( 49 const vector<int>& blocks, 50 const set<pair<int, int> >& block_pairs) 51 : kMaxRowBlocks(10 * 1000 * 1000), 52 blocks_(blocks) { 53 CHECK_LT(blocks.size(), kMaxRowBlocks); 54 55 col_layout_.resize(blocks_.size(), 0); 56 row_strides_.resize(blocks_.size(), 0); 57 58 // Build the row/column layout vector and count the number of scalar 59 // rows/columns. 60 int num_cols = 0; 61 for (int i = 0; i < blocks_.size(); ++i) { 62 col_layout_[i] = num_cols; 63 num_cols += blocks_[i]; 64 } 65 66 // Walk the sparsity pattern and count the number of non-zeros. 67 int num_nonzeros = 0; 68 for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 69 it != block_pairs.end(); 70 ++it) { 71 const int row_block_size = blocks_[it->first]; 72 const int col_block_size = blocks_[it->second]; 73 num_nonzeros += row_block_size * col_block_size; 74 } 75 76 VLOG(2) << "Matrix Size [" << num_cols 77 << "," << num_cols 78 << "] " << num_nonzeros; 79 80 crsm_.reset(new CompressedRowSparseMatrix(num_cols, num_cols, num_nonzeros)); 81 int* rows = crsm_->mutable_rows(); 82 int* cols = crsm_->mutable_cols(); 83 double* values = crsm_->mutable_values(); 84 85 // Iterate over the sparsity pattern and fill the scalar sparsity 86 // pattern of the underlying compressed sparse row matrix. Along the 87 // way also fill out the Layout object which will allow random 88 // access into the CRS Matrix. 89 set<pair<int, int> >::const_iterator it = block_pairs.begin(); 90 vector<int> col_blocks; 91 int row_pos = 0; 92 rows[0] = 0; 93 while (it != block_pairs.end()) { 94 // Add entries to layout_ for all the blocks for this row. 95 col_blocks.clear(); 96 const int row_block_id = it->first; 97 const int row_block_size = blocks_[row_block_id]; 98 int num_cols = 0; 99 while ((it != block_pairs.end()) && (it->first == row_block_id)) { 100 layout_[IntPairToLong(it->first, it->second)] = 101 new CellInfo(values + num_cols); 102 col_blocks.push_back(it->second); 103 num_cols += blocks_[it->second]; 104 ++it; 105 }; 106 107 // Count the number of non-zeros in the row block. 108 for (int j = 0; j < row_block_size; ++j) { 109 rows[row_pos + j + 1] = rows[row_pos + j] + num_cols; 110 } 111 112 // Fill out the sparsity pattern for each row. 113 int col_pos = 0; 114 for (int j = 0; j < col_blocks.size(); ++j) { 115 const int col_block_id = col_blocks[j]; 116 const int col_block_size = blocks_[col_block_id]; 117 for (int r = 0; r < row_block_size; ++r) { 118 const int column_block_begin = rows[row_pos + r] + col_pos; 119 for (int c = 0; c < col_block_size; ++c) { 120 cols[column_block_begin + c] = col_layout_[col_block_id] + c; 121 } 122 } 123 col_pos += col_block_size; 124 } 125 126 row_pos += row_block_size; 127 values += row_block_size * num_cols; 128 row_strides_[row_block_id] = num_cols; 129 } 130} 131 132// Assume that the user does not hold any locks on any cell blocks 133// when they are calling SetZero. 134BlockRandomAccessCRSMatrix::~BlockRandomAccessCRSMatrix() { 135 // TODO(sameeragarwal) this should be rationalized going forward and 136 // perhaps moved into BlockRandomAccessMatrix. 137 for (LayoutType::iterator it = layout_.begin(); 138 it != layout_.end(); 139 ++it) { 140 delete it->second; 141 } 142} 143 144CellInfo* BlockRandomAccessCRSMatrix::GetCell(int row_block_id, 145 int col_block_id, 146 int* row, 147 int* col, 148 int* row_stride, 149 int* col_stride) { 150 const LayoutType::iterator it = 151 layout_.find(IntPairToLong(row_block_id, col_block_id)); 152 if (it == layout_.end()) { 153 return NULL; 154 } 155 156 *row = 0; 157 *col = 0; 158 *row_stride = blocks_[row_block_id]; 159 *col_stride = row_strides_[row_block_id]; 160 return it->second; 161} 162 163// Assume that the user does not hold any locks on any cell blocks 164// when they are calling SetZero. 165void BlockRandomAccessCRSMatrix::SetZero() { 166 crsm_->SetZero(); 167} 168 169} // namespace internal 170} // namespace ceres 171