10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/block_random_access_sparse_matrix.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <algorithm> 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <set> 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <utility> 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/port.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/mutex.h" 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/triplet_sparse_matrix.h" 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "glog/logging.h" 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongBlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix( 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<int>& blocks, 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const set<pair<int, int> >& block_pairs) 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong : kMaxRowBlocks(10 * 1000 * 1000), 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong blocks_(blocks) { 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_LT(blocks.size(), kMaxRowBlocks); 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Build the row/column layout vector and count the number of scalar 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // rows/columns. 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_cols = 0; 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong vector<int> col_layout; 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < blocks_.size(); ++i) { 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong col_layout.push_back(num_cols); 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_cols += blocks_[i]; 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Count the number of scalar non-zero entries and build the layout 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // object for looking into the values array of the 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // TripletSparseMatrix. 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_nonzeros = 0; 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong it != block_pairs.end(); 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ++it) { 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int row_block_size = blocks_[it->first]; 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int col_block_size = blocks_[it->second]; 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_nonzeros += row_block_size * col_block_size; 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VLOG(1) << "Matrix Size [" << num_cols 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "," << num_cols 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "] " << num_nonzeros; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros)); 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong tsm_->set_num_nonzeros(num_nonzeros); 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* rows = tsm_->mutable_rows(); 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* cols = tsm_->mutable_cols(); 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* values = tsm_->mutable_values(); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int pos = 0; 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong it != block_pairs.end(); 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ++it) { 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int row_block_size = blocks_[it->first]; 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int col_block_size = blocks_[it->second]; 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong layout_[IntPairToLong(it->first, it->second)] = 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong new CellInfo(values + pos); 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong pos += row_block_size * col_block_size; 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Fill the sparsity pattern of the underlying matrix. 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong it != block_pairs.end(); 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ++it) { 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int row_block_id = it->first; 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int col_block_id = it->second; 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int row_block_size = blocks_[row_block_id]; 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int col_block_size = blocks_[col_block_id]; 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int pos = 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong layout_[IntPairToLong(row_block_id, col_block_id)]->values - values; 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int r = 0; r < row_block_size; ++r) { 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int c = 0; c < col_block_size; ++c, ++pos) { 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong rows[pos] = col_layout[row_block_id] + r; 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong cols[pos] = col_layout[col_block_id] + c; 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong values[pos] = 1.0; 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong DCHECK_LT(rows[pos], tsm_->num_rows()); 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong DCHECK_LT(cols[pos], tsm_->num_rows()); 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Assume that the user does not hold any locks on any cell blocks 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// when they are calling SetZero. 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongBlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() { 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (LayoutType::iterator it = layout_.begin(); 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong it != layout_.end(); 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ++it) { 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong delete it->second; 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongCellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id, 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int col_block_id, 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* row, 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* col, 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* row_stride, 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* col_stride) { 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const LayoutType::iterator it = 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong layout_.find(IntPairToLong(row_block_id, col_block_id)); 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (it == layout_.end()) { 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return NULL; 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Each cell is stored contiguously as its own little dense matrix. 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row = 0; 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *col = 0; 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_stride = blocks_[row_block_id]; 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *col_stride = blocks_[col_block_id]; 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return it->second; 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Assume that the user does not hold any locks on any cell blocks 1490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// when they are calling SetZero. 1500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid BlockRandomAccessSparseMatrix::SetZero() { 1510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (tsm_->num_nonzeros()) { 1520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(tsm_->mutable_values(), 1530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong tsm_->num_nonzeros()).setZero(); 1540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 159