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"
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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