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/detect_structure.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "glog/logging.h" 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid DetectStructure(const CompressedRowBlockStructure& bs, 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_eliminate_blocks, 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* row_block_size, 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* e_block_size, 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* f_block_size) { 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int num_row_blocks = bs.rows.size(); 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_block_size = 0; 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *e_block_size = 0; 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *f_block_size = 0; 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Iterate over row blocks of the matrix, checking if row_block, 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // e_block or f_block sizes remain constant. 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int r = 0; r < num_row_blocks; ++r) { 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const CompressedRow& row = bs.rows[r]; 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // We do not care about the sizes of the blocks in rows which do 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // not contain e_blocks. 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (row.cells.front().block_id >= num_eliminate_blocks) { 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong break; 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int e_block_id = row.cells.front().block_id; 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (*row_block_size == 0) { 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_block_size = row.block.size; 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else if (*row_block_size != Eigen::Dynamic && 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_block_size != row.block.size) { 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VLOG(2) << "Dynamic row block size because the block size changed from " 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << *row_block_size << " to " 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << row.block.size; 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_block_size = Eigen::Dynamic; 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (*e_block_size == 0) { 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *e_block_size = bs.cols[e_block_id].size; 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else if (*e_block_size != Eigen::Dynamic && 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *e_block_size != bs.cols[e_block_id].size) { 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VLOG(2) << "Dynamic e block size because the block size changed from " 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << *e_block_size << " to " 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << bs.cols[e_block_id].size; 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *e_block_size = Eigen::Dynamic; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (*f_block_size == 0) { 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (row.cells.size() > 1) { 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int f_block_id = row.cells[1].block_id; 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *f_block_size = bs.cols[f_block_id].size; 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } else if (*f_block_size != Eigen::Dynamic) { 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int c = 1; c < row.cells.size(); ++c) { 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (*f_block_size != bs.cols[row.cells[c].block_id].size) { 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VLOG(2) << "Dynamic f block size because the block size " 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << "changed from " << *f_block_size << " to " 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << bs.cols[row.cells[c].block_id].size; 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *f_block_size = Eigen::Dynamic; 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong break; 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic && 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *e_block_size == Eigen::Dynamic && 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *f_block_size == Eigen::Dynamic); 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (is_everything_dynamic) { 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong break; 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_NE(*row_block_size, 0) << "No rows found"; 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_NE(*e_block_size, 0) << "No e type blocks found"; 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VLOG(1) << "Schur complement static structure <" 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << *row_block_size << "," 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << *e_block_size << "," 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong << *f_block_size << ">."; 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 115