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/triplet_sparse_matrix.h" 35 #include "ceres/internal/eigen.h" 36 #include "ceres/internal/port.h" 37 #include "glog/logging.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 m_.resize(num_rows, num_cols); 46 m_.setZero(); 47 } 48 49 DenseSparseMatrix::DenseSparseMatrix(int num_rows, 50 int num_cols, 51 bool reserve_diagonal) 52 : has_diagonal_appended_(false), 53 has_diagonal_reserved_(reserve_diagonal) { 54 if (reserve_diagonal) { 55 // Allocate enough space for the diagonal. 56 m_.resize(num_rows + num_cols, num_cols); 57 } else { 58 m_.resize(num_rows, num_cols); 59 } 60 m_.setZero(); 61 } 62 63 DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m) 64 : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())), 65 has_diagonal_appended_(false), 66 has_diagonal_reserved_(false) { 67 const double *values = m.values(); 68 const int *rows = m.rows(); 69 const int *cols = m.cols(); 70 int num_nonzeros = m.num_nonzeros(); 71 72 for (int i = 0; i < num_nonzeros; ++i) { 73 m_(rows[i], cols[i]) += values[i]; 74 } 75 } 76 77 DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m) 78 : m_(m), 79 has_diagonal_appended_(false), 80 has_diagonal_reserved_(false) { 81 } 82 83 void DenseSparseMatrix::SetZero() { 84 m_.setZero(); 85 } 86 87 void DenseSparseMatrix::RightMultiply(const double* x, double* y) const { 88 VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols()); 89 } 90 91 void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const { 92 VectorRef(y, num_cols()) += 93 matrix().transpose() * ConstVectorRef(x, num_rows()); 94 } 95 96 void DenseSparseMatrix::SquaredColumnNorm(double* x) const { 97 VectorRef(x, num_cols()) = m_.colwise().squaredNorm(); 98 } 99 100 void DenseSparseMatrix::ScaleColumns(const double* scale) { 101 m_ *= ConstVectorRef(scale, num_cols()).asDiagonal(); 102 } 103 104 void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const { 105 *dense_matrix = m_.block(0, 0, num_rows(), num_cols()); 106 } 107 108 void DenseSparseMatrix::AppendDiagonal(double *d) { 109 CHECK(!has_diagonal_appended_); 110 if (!has_diagonal_reserved_) { 111 ColMajorMatrix tmp = m_; 112 m_.resize(m_.rows() + m_.cols(), m_.cols()); 113 m_.setZero(); 114 m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp; 115 has_diagonal_reserved_ = true; 116 } 117 118 m_.bottomLeftCorner(m_.cols(), m_.cols()) = 119 ConstVectorRef(d, m_.cols()).asDiagonal(); 120 has_diagonal_appended_ = true; 121 } 122 123 void DenseSparseMatrix::RemoveDiagonal() { 124 CHECK(has_diagonal_appended_); 125 has_diagonal_appended_ = false; 126 // Leave the diagonal reserved. 127 } 128 129 int DenseSparseMatrix::num_rows() const { 130 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 131 return m_.rows() - m_.cols(); 132 } 133 return m_.rows(); 134 } 135 136 int DenseSparseMatrix::num_cols() const { 137 return m_.cols(); 138 } 139 140 int DenseSparseMatrix::num_nonzeros() const { 141 if (has_diagonal_reserved_ && !has_diagonal_appended_) { 142 return (m_.rows() - m_.cols()) * m_.cols(); 143 } 144 return m_.rows() * m_.cols(); 145 } 146 147 ConstColMajorMatrixRef DenseSparseMatrix::matrix() const { 148 return ConstColMajorMatrixRef( 149 m_.data(), 150 ((has_diagonal_reserved_ && !has_diagonal_appended_) 151 ? m_.rows() - m_.cols() 152 : m_.rows()), 153 m_.cols(), 154 Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1)); 155 } 156 157 ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() { 158 return ColMajorMatrixRef( 159 m_.data(), 160 ((has_diagonal_reserved_ && !has_diagonal_appended_) 161 ? m_.rows() - m_.cols() 162 : m_.rows()), 163 m_.cols(), 164 Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1)); 165 } 166 167 168 void DenseSparseMatrix::ToTextFile(FILE* file) const { 169 CHECK_NOTNULL(file); 170 const int active_rows = 171 (has_diagonal_reserved_ && !has_diagonal_appended_) 172 ? (m_.rows() - m_.cols()) 173 : m_.rows(); 174 175 for (int r = 0; r < active_rows; ++r) { 176 for (int c = 0; c < m_.cols(); ++c) { 177 fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c)); 178 } 179 } 180 } 181 182 } // namespace internal 183 } // namespace ceres 184
