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: keir (at) google.com (Keir Mierle) 30 31 #include "ceres/dense_sparse_matrix.h" 32 33 #include <algorithm> 34 #include "ceres/matrix_proto.h" 35 #include "ceres/triplet_sparse_matrix.h" 36 #include "ceres/internal/eigen.h" 37 #include "ceres/internal/port.h" 38 39 namespace ceres { 40 namespace internal { 41 42 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols) 43 : has_diagonal_appended_(false), 44 has_diagonal_reserved_(false) { 45 // Allocate enough space for the diagonal. 46 m_.resize(num_rows, num_cols); 47 m_.setZero(); 48 } 49 50 DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols, bool reserve_diagonal) 51 : has_diagonal_appended_(false), 52 has_diagonal_reserved_(reserve_diagonal) { 53 // Allocate enough space for the diagonal. 54 if (reserve_diagonal) { 55 m_.resize(num_rows + num_cols, num_cols); 56 } else { 57 m_.resize(num_rows, num_cols); 58 } 59 m_.setZero(); 60 } 61 62 DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m) 63 : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())), 64 has_diagonal_appended_(false), 65 has_diagonal_reserved_(false) { 66 const double *values = m.values(); 67 const int *rows = m.rows(); 68 const int *cols = m.cols(); 69 int num_nonzeros = m.num_nonzeros(); 70 71 for (int i = 0; i < num_nonzeros; ++i) { 72 m_(rows[i], cols[i]) += values[i]; 73 } 74 } 75 76 DenseSparseMatrix::DenseSparseMatrix(const Matrix& m) 77 : m_(m), 78 has_diagonal_appended_(false), 79 has_diagonal_reserved_(false) { 80 } 81 82 #ifndef CERES_NO_PROTOCOL_BUFFERS 83 DenseSparseMatrix::DenseSparseMatrix(const SparseMatrixProto& outer_proto) 84 : m_(Eigen::MatrixXd::Zero( 85 outer_proto.dense_matrix().num_rows(), 86 outer_proto.dense_matrix().num_cols())), 87 has_diagonal_appended_(false), 88 has_diagonal_reserved_(false) { 89 const DenseSparseMatrixProto& proto = outer_proto.dense_matrix(); 90 for (int i = 0; i < m_.rows(); ++i) { 91 for (int j = 0; j < m_.cols(); ++j) { 92 m_(i, j) = proto.values(m_.cols() * i + j); 93 } 94 } 95 } 96 #endif 97 98 void DenseSparseMatrix::SetZero() { 99 m_.setZero(); 100 } 101 102 void DenseSparseMatrix::RightMultiply(const double* x, double* y) const { 103 VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols()); 104 } 105 106 void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const { 107 VectorRef(y, num_cols()) += 108 matrix().transpose() * ConstVectorRef(x, num_rows()); 109 } 110 111 void DenseSparseMatrix::SquaredColumnNorm(double* x) const { 112 VectorRef(x, num_cols()) = m_.colwise().squaredNorm(); 113 } 114 115 void DenseSparseMatrix::ScaleColumns(const double* scale) { 116 m_ *= ConstVectorRef(scale, num_cols()).asDiagonal(); 117 } 118 119 void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const { 120 *dense_matrix = m_; 121 } 122 123 #ifndef CERES_NO_PROTOCOL_BUFFERS 124 void DenseSparseMatrix::ToProto(SparseMatrixProto* outer_proto) const { 125 CHECK(!has_diagonal_appended_) << "Not supported."; 126 outer_proto->Clear(); 127 DenseSparseMatrixProto* proto = outer_proto->mutable_dense_matrix(); 128 129 proto->set_num_rows(num_rows()); 130 proto->set_num_cols(num_cols()); 131 132 int num_nnz = num_nonzeros(); 133 for (int i = 0; i < num_nnz; ++i) { 134 proto->add_values(m_.data()[i]); 135 } 136 } 137 #endif 138 139 void DenseSparseMatrix::AppendDiagonal(double *d) { 140 CHECK(!has_diagonal_appended_); 141 if (!has_diagonal_reserved_) { 142 Matrix tmp = m_; 143 m_.resize(m_.rows() + m_.cols(), m_.cols()); 144 m_.setZero(); 145 m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp; 146 has_diagonal_reserved_ = true; 147 } 148 149 m_.bottomLeftCorner(m_.cols(), m_.cols()) = 150 ConstVectorRef(d, m_.cols()).asDiagonal(); 151 has_diagonal_appended_ = true; 152 } 153 154 void DenseSparseMatrix::RemoveDiagonal() { 155 CHECK(has_diagonal_appended_); 156 has_diagonal_appended_ = false; 157 // Leave the diagonal reserved. 158 } 159 160 int DenseSparseMatrix::num_rows() const { 161 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 162 return m_.rows() - m_.cols(); 163 } 164 return m_.rows(); 165 } 166 167 int DenseSparseMatrix::num_cols() const { 168 return m_.cols(); 169 } 170 171 int DenseSparseMatrix::num_nonzeros() const { 172 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 173 return (m_.rows() - m_.cols()) * m_.cols(); 174 } 175 return m_.rows() * m_.cols(); 176 } 177 178 ConstAlignedMatrixRef DenseSparseMatrix::matrix() const { 179 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 180 return ConstAlignedMatrixRef( 181 m_.data(), m_.rows() - m_.cols(), m_.cols()); 182 } 183 return ConstAlignedMatrixRef(m_.data(), m_.rows(), m_.cols()); 184 } 185 186 AlignedMatrixRef DenseSparseMatrix::mutable_matrix() { 187 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 188 return AlignedMatrixRef( 189 m_.data(), m_.rows() - m_.cols(), m_.cols()); 190 } 191 return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols()); 192 } 193 194 void DenseSparseMatrix::ToTextFile(FILE* file) const { 195 CHECK_NOTNULL(file); 196 const int active_rows = 197 (has_diagonal_reserved_ && !has_diagonal_appended_) 198 ? (m_.rows() - m_.cols()) 199 : m_.rows(); 200 201 for (int r = 0; r < active_rows; ++r) { 202 for (int c = 0; c < m_.cols(); ++c) { 203 fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c)); 204 } 205 } 206 } 207 208 } // namespace internal 209 } // namespace ceres 210