| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2013 Google Inc. All rights reserved. |
| // http://code.google.com/p/ceres-solver/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/block_random_access_crs_matrix.h" |
| |
| #include <algorithm> |
| #include <set> |
| #include <utility> |
| #include <vector> |
| #include "ceres/compressed_row_sparse_matrix.h" |
| #include "ceres/internal/port.h" |
| #include "ceres/internal/scoped_ptr.h" |
| #include "ceres/mutex.h" |
| #include "ceres/triplet_sparse_matrix.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| BlockRandomAccessCRSMatrix::BlockRandomAccessCRSMatrix( |
| const vector<int>& blocks, |
| const set<pair<int, int> >& block_pairs) |
| : kMaxRowBlocks(10 * 1000 * 1000), |
| blocks_(blocks) { |
| CHECK_LT(blocks.size(), kMaxRowBlocks); |
| |
| col_layout_.resize(blocks_.size(), 0); |
| row_strides_.resize(blocks_.size(), 0); |
| |
| // Build the row/column layout vector and count the number of scalar |
| // rows/columns. |
| int num_cols = 0; |
| for (int i = 0; i < blocks_.size(); ++i) { |
| col_layout_[i] = num_cols; |
| num_cols += blocks_[i]; |
| } |
| |
| // Walk the sparsity pattern and count the number of non-zeros. |
| int num_nonzeros = 0; |
| for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); |
| it != block_pairs.end(); |
| ++it) { |
| const int row_block_size = blocks_[it->first]; |
| const int col_block_size = blocks_[it->second]; |
| num_nonzeros += row_block_size * col_block_size; |
| } |
| |
| VLOG(2) << "Matrix Size [" << num_cols |
| << "," << num_cols |
| << "] " << num_nonzeros; |
| |
| crsm_.reset(new CompressedRowSparseMatrix(num_cols, num_cols, num_nonzeros)); |
| int* rows = crsm_->mutable_rows(); |
| int* cols = crsm_->mutable_cols(); |
| double* values = crsm_->mutable_values(); |
| |
| // Iterate over the sparsity pattern and fill the scalar sparsity |
| // pattern of the underlying compressed sparse row matrix. Along the |
| // way also fill out the Layout object which will allow random |
| // access into the CRS Matrix. |
| set<pair<int, int> >::const_iterator it = block_pairs.begin(); |
| vector<int> col_blocks; |
| int row_pos = 0; |
| rows[0] = 0; |
| while (it != block_pairs.end()) { |
| // Add entries to layout_ for all the blocks for this row. |
| col_blocks.clear(); |
| const int row_block_id = it->first; |
| const int row_block_size = blocks_[row_block_id]; |
| int num_cols = 0; |
| while ((it != block_pairs.end()) && (it->first == row_block_id)) { |
| layout_[IntPairToLong(it->first, it->second)] = |
| new CellInfo(values + num_cols); |
| col_blocks.push_back(it->second); |
| num_cols += blocks_[it->second]; |
| ++it; |
| }; |
| |
| // Count the number of non-zeros in the row block. |
| for (int j = 0; j < row_block_size; ++j) { |
| rows[row_pos + j + 1] = rows[row_pos + j] + num_cols; |
| } |
| |
| // Fill out the sparsity pattern for each row. |
| int col_pos = 0; |
| for (int j = 0; j < col_blocks.size(); ++j) { |
| const int col_block_id = col_blocks[j]; |
| const int col_block_size = blocks_[col_block_id]; |
| for (int r = 0; r < row_block_size; ++r) { |
| const int column_block_begin = rows[row_pos + r] + col_pos; |
| for (int c = 0; c < col_block_size; ++c) { |
| cols[column_block_begin + c] = col_layout_[col_block_id] + c; |
| } |
| } |
| col_pos += col_block_size; |
| } |
| |
| row_pos += row_block_size; |
| values += row_block_size * num_cols; |
| row_strides_[row_block_id] = num_cols; |
| } |
| } |
| |
| // Assume that the user does not hold any locks on any cell blocks |
| // when they are calling SetZero. |
| BlockRandomAccessCRSMatrix::~BlockRandomAccessCRSMatrix() { |
| // TODO(sameeragarwal) this should be rationalized going forward and |
| // perhaps moved into BlockRandomAccessMatrix. |
| for (LayoutType::iterator it = layout_.begin(); |
| it != layout_.end(); |
| ++it) { |
| delete it->second; |
| } |
| } |
| |
| CellInfo* BlockRandomAccessCRSMatrix::GetCell(int row_block_id, |
| int col_block_id, |
| int* row, |
| int* col, |
| int* row_stride, |
| int* col_stride) { |
| const LayoutType::iterator it = |
| layout_.find(IntPairToLong(row_block_id, col_block_id)); |
| if (it == layout_.end()) { |
| return NULL; |
| } |
| |
| *row = 0; |
| *col = 0; |
| *row_stride = blocks_[row_block_id]; |
| *col_stride = row_strides_[row_block_id]; |
| return it->second; |
| } |
| |
| // Assume that the user does not hold any locks on any cell blocks |
| // when they are calling SetZero. |
| void BlockRandomAccessCRSMatrix::SetZero() { |
| crsm_->SetZero(); |
| } |
| |
| } // namespace internal |
| } // namespace ceres |