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_diagonal_matrix.h" 32 33 #include <algorithm> 34 #include <set> 35 #include <utility> 36 #include <vector> 37 #include "ceres/internal/port.h" 38 #include "ceres/internal/scoped_ptr.h" 39 #include "ceres/triplet_sparse_matrix.h" 40 #include "ceres/types.h" 41 #include "ceres/stl_util.h" 42 #include "glog/logging.h" 43 44 namespace ceres { 45 namespace internal { 46 BlockRandomAccessDiagonalMatrix(const vector<int> & blocks)47 BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix( 48 const vector<int>& blocks) 49 : blocks_(blocks) { 50 // Build the row/column layout vector and count the number of scalar 51 // rows/columns. 52 int num_cols = 0; 53 int num_nonzeros = 0; 54 vector<int> col_layout; 55 for (int i = 0; i < blocks_.size(); ++i) { 56 col_layout.push_back(num_cols); 57 num_cols += blocks_[i]; 58 num_nonzeros += blocks_[i] * blocks_[i]; 59 } 60 61 VLOG(1) << "Matrix Size [" << num_cols 62 << "," << num_cols 63 << "] " << num_nonzeros; 64 65 tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros)); 66 tsm_->set_num_nonzeros(num_nonzeros); 67 int* rows = tsm_->mutable_rows(); 68 int* cols = tsm_->mutable_cols(); 69 double* values = tsm_->mutable_values(); 70 71 int pos = 0; 72 for (int i = 0; i < blocks_.size(); ++i) { 73 const int block_size = blocks_[i]; 74 layout_.push_back(new CellInfo(values + pos)); 75 const int block_begin = col_layout[i]; 76 for (int r = 0; r < block_size; ++r) { 77 for (int c = 0; c < block_size; ++c, ++pos) { 78 rows[pos] = block_begin + r; 79 cols[pos] = block_begin + c; 80 } 81 } 82 } 83 } 84 85 // Assume that the user does not hold any locks on any cell blocks 86 // when they are calling SetZero. ~BlockRandomAccessDiagonalMatrix()87 BlockRandomAccessDiagonalMatrix::~BlockRandomAccessDiagonalMatrix() { 88 STLDeleteContainerPointers(layout_.begin(), layout_.end()); 89 } 90 GetCell(int row_block_id,int col_block_id,int * row,int * col,int * row_stride,int * col_stride)91 CellInfo* BlockRandomAccessDiagonalMatrix::GetCell(int row_block_id, 92 int col_block_id, 93 int* row, 94 int* col, 95 int* row_stride, 96 int* col_stride) { 97 if (row_block_id != col_block_id) { 98 return NULL; 99 } 100 const int stride = blocks_[row_block_id]; 101 102 // Each cell is stored contiguously as its own little dense matrix. 103 *row = 0; 104 *col = 0; 105 *row_stride = stride; 106 *col_stride = stride; 107 return layout_[row_block_id]; 108 } 109 110 // Assume that the user does not hold any locks on any cell blocks 111 // when they are calling SetZero. SetZero()112 void BlockRandomAccessDiagonalMatrix::SetZero() { 113 if (tsm_->num_nonzeros()) { 114 VectorRef(tsm_->mutable_values(), 115 tsm_->num_nonzeros()).setZero(); 116 } 117 } 118 119 } // namespace internal 120 } // namespace ceres 121