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/block_random_access_sparse_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/mutex.h" 40 #include "ceres/triplet_sparse_matrix.h" 41 #include "ceres/types.h" 42 #include "glog/logging.h" 43 44 namespace ceres { 45 namespace internal { 46 47 BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix( 48 const vector<int>& blocks, 49 const set<pair<int, int> >& block_pairs) 50 : kMaxRowBlocks(10 * 1000 * 1000), 51 blocks_(blocks) { 52 CHECK_LT(blocks.size(), kMaxRowBlocks); 53 54 // Build the row/column layout vector and count the number of scalar 55 // rows/columns. 56 int num_cols = 0; 57 vector<int> col_layout; 58 for (int i = 0; i < blocks_.size(); ++i) { 59 col_layout.push_back(num_cols); 60 num_cols += blocks_[i]; 61 } 62 63 // Count the number of scalar non-zero entries and build the layout 64 // object for looking into the values array of the 65 // TripletSparseMatrix. 66 int num_nonzeros = 0; 67 for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 68 it != block_pairs.end(); 69 ++it) { 70 const int row_block_size = blocks_[it->first]; 71 const int col_block_size = blocks_[it->second]; 72 num_nonzeros += row_block_size * col_block_size; 73 } 74 75 VLOG(1) << "Matrix Size [" << num_cols 76 << "," << num_cols 77 << "] " << num_nonzeros; 78 79 tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros)); 80 tsm_->set_num_nonzeros(num_nonzeros); 81 int* rows = tsm_->mutable_rows(); 82 int* cols = tsm_->mutable_cols(); 83 double* values = tsm_->mutable_values(); 84 85 int pos = 0; 86 for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 87 it != block_pairs.end(); 88 ++it) { 89 const int row_block_size = blocks_[it->first]; 90 const int col_block_size = blocks_[it->second]; 91 layout_[IntPairToLong(it->first, it->second)] = 92 new CellInfo(values + pos); 93 pos += row_block_size * col_block_size; 94 } 95 96 // Fill the sparsity pattern of the underlying matrix. 97 for (set<pair<int, int> >::const_iterator it = block_pairs.begin(); 98 it != block_pairs.end(); 99 ++it) { 100 const int row_block_id = it->first; 101 const int col_block_id = it->second; 102 const int row_block_size = blocks_[row_block_id]; 103 const int col_block_size = blocks_[col_block_id]; 104 int pos = 105 layout_[IntPairToLong(row_block_id, col_block_id)]->values - values; 106 for (int r = 0; r < row_block_size; ++r) { 107 for (int c = 0; c < col_block_size; ++c, ++pos) { 108 rows[pos] = col_layout[row_block_id] + r; 109 cols[pos] = col_layout[col_block_id] + c; 110 values[pos] = 1.0; 111 DCHECK_LT(rows[pos], tsm_->num_rows()); 112 DCHECK_LT(cols[pos], tsm_->num_rows()); 113 } 114 } 115 } 116 } 117 118 // Assume that the user does not hold any locks on any cell blocks 119 // when they are calling SetZero. 120 BlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() { 121 for (LayoutType::iterator it = layout_.begin(); 122 it != layout_.end(); 123 ++it) { 124 delete it->second; 125 } 126 } 127 128 CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id, 129 int col_block_id, 130 int* row, 131 int* col, 132 int* row_stride, 133 int* col_stride) { 134 const LayoutType::iterator it = 135 layout_.find(IntPairToLong(row_block_id, col_block_id)); 136 if (it == layout_.end()) { 137 return NULL; 138 } 139 140 // Each cell is stored contiguously as its own little dense matrix. 141 *row = 0; 142 *col = 0; 143 *row_stride = blocks_[row_block_id]; 144 *col_stride = blocks_[col_block_id]; 145 return it->second; 146 } 147 148 // Assume that the user does not hold any locks on any cell blocks 149 // when they are calling SetZero. 150 void BlockRandomAccessSparseMatrix::SetZero() { 151 if (tsm_->num_nonzeros()) { 152 VectorRef(tsm_->mutable_values(), 153 tsm_->num_nonzeros()).setZero(); 154 } 155 } 156 157 } // namespace internal 158 } // namespace ceres 159
