1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 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 (at) google.com (Sameer Agarwal) 30 31 #include "ceres/detect_structure.h" 32 #include "ceres/internal/eigen.h" 33 #include "glog/logging.h" 34 35 namespace ceres { 36 namespace internal { 37 38 void DetectStructure(const CompressedRowBlockStructure& bs, 39 const int num_eliminate_blocks, 40 int* row_block_size, 41 int* e_block_size, 42 int* f_block_size) { 43 const int num_row_blocks = bs.rows.size(); 44 *row_block_size = 0; 45 *e_block_size = 0; 46 *f_block_size = 0; 47 48 // Iterate over row blocks of the matrix, checking if row_block, 49 // e_block or f_block sizes remain constant. 50 for (int r = 0; r < num_row_blocks; ++r) { 51 const CompressedRow& row = bs.rows[r]; 52 // We do not care about the sizes of the blocks in rows which do 53 // not contain e_blocks. 54 if (row.cells.front().block_id >= num_eliminate_blocks) { 55 break; 56 } 57 const int e_block_id = row.cells.front().block_id; 58 59 if (*row_block_size == 0) { 60 *row_block_size = row.block.size; 61 } else if (*row_block_size != Eigen::Dynamic && 62 *row_block_size != row.block.size) { 63 VLOG(2) << "Dynamic row block size because the block size changed from " 64 << *row_block_size << " to " 65 << row.block.size; 66 *row_block_size = Eigen::Dynamic; 67 } 68 69 70 if (*e_block_size == 0) { 71 *e_block_size = bs.cols[e_block_id].size; 72 } else if (*e_block_size != Eigen::Dynamic && 73 *e_block_size != bs.cols[e_block_id].size) { 74 VLOG(2) << "Dynamic e block size because the block size changed from " 75 << *e_block_size << " to " 76 << bs.cols[e_block_id].size; 77 *e_block_size = Eigen::Dynamic; 78 } 79 80 if (*f_block_size == 0) { 81 if (row.cells.size() > 1) { 82 const int f_block_id = row.cells[1].block_id; 83 *f_block_size = bs.cols[f_block_id].size; 84 } 85 } else if (*f_block_size != Eigen::Dynamic) { 86 for (int c = 1; c < row.cells.size(); ++c) { 87 if (*f_block_size != bs.cols[row.cells[c].block_id].size) { 88 VLOG(2) << "Dynamic f block size because the block size " 89 << "changed from " << *f_block_size << " to " 90 << bs.cols[row.cells[c].block_id].size; 91 *f_block_size = Eigen::Dynamic; 92 break; 93 } 94 } 95 } 96 97 const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic && 98 *e_block_size == Eigen::Dynamic && 99 *f_block_size == Eigen::Dynamic); 100 if (is_everything_dynamic) { 101 break; 102 } 103 } 104 105 CHECK_NE(*row_block_size, 0) << "No rows found"; 106 CHECK_NE(*e_block_size, 0) << "No e type blocks found"; 107 VLOG(1) << "Schur complement static structure <" 108 << *row_block_size << "," 109 << *e_block_size << "," 110 << *f_block_size << ">."; 111 } 112 113 } // namespace internal 114 } // namespace ceres 115
