179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Ceres Solver - A fast non-linear least squares minimizer 279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Copyright 2013 Google Inc. All rights reserved. 379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// http://code.google.com/p/ceres-solver/ 479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Redistribution and use in source and binary forms, with or without 679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// modification, are permitted provided that the following conditions are met: 779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Redistributions of source code must retain the above copyright notice, 979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// this list of conditions and the following disclaimer. 1079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Redistributions in binary form must reproduce the above copyright notice, 1179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// this list of conditions and the following disclaimer in the documentation 1279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// and/or other materials provided with the distribution. 1379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// * Neither the name of Google Inc. nor the names of its contributors may be 1479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// used to endorse or promote products derived from this software without 1579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// specific prior written permission. 1679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 1779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 1879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 1979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 2079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 2179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 2279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 2379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 2479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 2579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 2679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 2779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// POSSIBILITY OF SUCH DAMAGE. 2879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// 2979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Author: sameeragarwal@google.com (Sameer Agarwal) 3079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/block_random_access_diagonal_matrix.h" 3279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 3379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include <algorithm> 3479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include <set> 3579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include <utility> 3679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include <vector> 3779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/internal/port.h" 3879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/internal/scoped_ptr.h" 3979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/triplet_sparse_matrix.h" 4079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/types.h" 4179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "ceres/stl_util.h" 4279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez#include "glog/logging.h" 4379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 4479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandeznamespace ceres { 4579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandeznamespace internal { 4679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 4779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezBlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix( 4879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const vector<int>& blocks) 4979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez : blocks_(blocks) { 5079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // Build the row/column layout vector and count the number of scalar 5179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // rows/columns. 5279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int num_cols = 0; 5379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int num_nonzeros = 0; 5479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez vector<int> col_layout; 5579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < blocks_.size(); ++i) { 5679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez col_layout.push_back(num_cols); 5779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez num_cols += blocks_[i]; 5879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez num_nonzeros += blocks_[i] * blocks_[i]; 5979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 6079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 6179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez VLOG(1) << "Matrix Size [" << num_cols 6279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez << "," << num_cols 6379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez << "] " << num_nonzeros; 6479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 6579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros)); 6679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez tsm_->set_num_nonzeros(num_nonzeros); 6779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* rows = tsm_->mutable_rows(); 6879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* cols = tsm_->mutable_cols(); 6979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez double* values = tsm_->mutable_values(); 7079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 7179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int pos = 0; 7279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int i = 0; i < blocks_.size(); ++i) { 7379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int block_size = blocks_[i]; 7479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez layout_.push_back(new CellInfo(values + pos)); 7579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int block_begin = col_layout[i]; 7679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int r = 0; r < block_size; ++r) { 7779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez for (int c = 0; c < block_size; ++c, ++pos) { 7879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez rows[pos] = block_begin + r; 7979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez cols[pos] = block_begin + c; 8079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 8179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 8279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 8379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 8479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 8579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Assume that the user does not hold any locks on any cell blocks 8679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// when they are calling SetZero. 8779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezBlockRandomAccessDiagonalMatrix::~BlockRandomAccessDiagonalMatrix() { 8879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez STLDeleteContainerPointers(layout_.begin(), layout_.end()); 8979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 9079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 9179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos HernandezCellInfo* BlockRandomAccessDiagonalMatrix::GetCell(int row_block_id, 9279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int col_block_id, 9379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* row, 9479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* col, 9579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* row_stride, 9679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez int* col_stride) { 9779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez if (row_block_id != col_block_id) { 9879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez return NULL; 9979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 10079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez const int stride = blocks_[row_block_id]; 10179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 10279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez // Each cell is stored contiguously as its own little dense matrix. 10379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez *row = 0; 10479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez *col = 0; 10579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez *row_stride = stride; 10679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez *col_stride = stride; 10779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez return layout_[row_block_id]; 10879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 10979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 11079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// Assume that the user does not hold any locks on any cell blocks 11179397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez// when they are calling SetZero. 11279397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandezvoid BlockRandomAccessDiagonalMatrix::SetZero() { 11379397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez if (tsm_->num_nonzeros()) { 11479397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez VectorRef(tsm_->mutable_values(), 11579397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez tsm_->num_nonzeros()).setZero(); 11679397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez } 11779397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} 11879397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez 11979397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} // namespace internal 12079397c21138f54fcff6ec067b44b847f1f7e0e98Carlos Hernandez} // namespace ceres 121