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      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/triplet_sparse_matrix.h"
     32 
     33 #include <algorithm>
     34 #include <cstddef>
     35 #include "ceres/internal/eigen.h"
     36 #include "ceres/internal/port.h"
     37 #include "ceres/internal/scoped_ptr.h"
     38 #include "ceres/types.h"
     39 #include "glog/logging.h"
     40 
     41 namespace ceres {
     42 namespace internal {
     43 
     44 TripletSparseMatrix::TripletSparseMatrix()
     45     : num_rows_(0),
     46       num_cols_(0),
     47       max_num_nonzeros_(0),
     48       num_nonzeros_(0),
     49       rows_(NULL),
     50       cols_(NULL),
     51       values_(NULL) {}
     52 
     53 TripletSparseMatrix::~TripletSparseMatrix() {}
     54 
     55 TripletSparseMatrix::TripletSparseMatrix(int num_rows,
     56                                          int num_cols,
     57                                          int max_num_nonzeros)
     58     : num_rows_(num_rows),
     59       num_cols_(num_cols),
     60       max_num_nonzeros_(max_num_nonzeros),
     61       num_nonzeros_(0),
     62       rows_(NULL),
     63       cols_(NULL),
     64       values_(NULL) {
     65   // All the sizes should at least be zero
     66   CHECK_GE(num_rows, 0);
     67   CHECK_GE(num_cols, 0);
     68   CHECK_GE(max_num_nonzeros, 0);
     69   AllocateMemory();
     70 }
     71 
     72 TripletSparseMatrix::TripletSparseMatrix(const TripletSparseMatrix& orig)
     73     : SparseMatrix(),
     74       num_rows_(orig.num_rows_),
     75       num_cols_(orig.num_cols_),
     76       max_num_nonzeros_(orig.max_num_nonzeros_),
     77       num_nonzeros_(orig.num_nonzeros_),
     78       rows_(NULL),
     79       cols_(NULL),
     80       values_(NULL) {
     81   AllocateMemory();
     82   CopyData(orig);
     83 }
     84 
     85 TripletSparseMatrix& TripletSparseMatrix::operator=(
     86     const TripletSparseMatrix& rhs) {
     87   num_rows_ = rhs.num_rows_;
     88   num_cols_ = rhs.num_cols_;
     89   num_nonzeros_ = rhs.num_nonzeros_;
     90   max_num_nonzeros_ = rhs.max_num_nonzeros_;
     91   AllocateMemory();
     92   CopyData(rhs);
     93   return *this;
     94 }
     95 
     96 bool TripletSparseMatrix::AllTripletsWithinBounds() const {
     97   for (int i = 0; i < num_nonzeros_; ++i) {
     98     if ((rows_[i] < 0) || (rows_[i] >= num_rows_) ||
     99         (cols_[i] < 0) || (cols_[i] >= num_cols_))
    100       return false;
    101   }
    102   return true;
    103 }
    104 
    105 void TripletSparseMatrix::Reserve(int new_max_num_nonzeros) {
    106   CHECK_LE(num_nonzeros_, new_max_num_nonzeros)
    107       << "Reallocation will cause data loss";
    108 
    109   // Nothing to do if we have enough space already.
    110   if (new_max_num_nonzeros <= max_num_nonzeros_)
    111     return;
    112 
    113   int* new_rows = new int[new_max_num_nonzeros];
    114   int* new_cols = new int[new_max_num_nonzeros];
    115   double* new_values = new double[new_max_num_nonzeros];
    116 
    117   for (int i = 0; i < num_nonzeros_; ++i) {
    118     new_rows[i] = rows_[i];
    119     new_cols[i] = cols_[i];
    120     new_values[i] = values_[i];
    121   }
    122 
    123   rows_.reset(new_rows);
    124   cols_.reset(new_cols);
    125   values_.reset(new_values);
    126 
    127   max_num_nonzeros_ = new_max_num_nonzeros;
    128 }
    129 
    130 void TripletSparseMatrix::SetZero() {
    131   fill(values_.get(), values_.get() + max_num_nonzeros_, 0.0);
    132   num_nonzeros_ = 0;
    133 }
    134 
    135 void TripletSparseMatrix::set_num_nonzeros(int num_nonzeros) {
    136   CHECK_GE(num_nonzeros, 0);
    137   CHECK_LE(num_nonzeros, max_num_nonzeros_);
    138   num_nonzeros_ = num_nonzeros;
    139 };
    140 
    141 void TripletSparseMatrix::AllocateMemory() {
    142   rows_.reset(new int[max_num_nonzeros_]);
    143   cols_.reset(new int[max_num_nonzeros_]);
    144   values_.reset(new double[max_num_nonzeros_]);
    145 }
    146 
    147 void TripletSparseMatrix::CopyData(const TripletSparseMatrix& orig) {
    148   for (int i = 0; i < num_nonzeros_; ++i) {
    149     rows_[i] = orig.rows_[i];
    150     cols_[i] = orig.cols_[i];
    151     values_[i] = orig.values_[i];
    152   }
    153 }
    154 
    155 void TripletSparseMatrix::RightMultiply(const double* x,  double* y) const {
    156   for (int i = 0; i < num_nonzeros_; ++i) {
    157     y[rows_[i]] += values_[i]*x[cols_[i]];
    158   }
    159 }
    160 
    161 void TripletSparseMatrix::LeftMultiply(const double* x, double* y) const {
    162   for (int i = 0; i < num_nonzeros_; ++i) {
    163     y[cols_[i]] += values_[i]*x[rows_[i]];
    164   }
    165 }
    166 
    167 void TripletSparseMatrix::SquaredColumnNorm(double* x) const {
    168   CHECK_NOTNULL(x);
    169   VectorRef(x, num_cols_).setZero();
    170   for (int i = 0; i < num_nonzeros_; ++i) {
    171     x[cols_[i]] += values_[i] * values_[i];
    172   }
    173 }
    174 
    175 void TripletSparseMatrix::ScaleColumns(const double* scale) {
    176   CHECK_NOTNULL(scale);
    177   for (int i = 0; i < num_nonzeros_; ++i) {
    178     values_[i] = values_[i] * scale[cols_[i]];
    179   }
    180 }
    181 
    182 void TripletSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
    183   dense_matrix->resize(num_rows_, num_cols_);
    184   dense_matrix->setZero();
    185   Matrix& m = *dense_matrix;
    186   for (int i = 0; i < num_nonzeros_; ++i) {
    187     m(rows_[i], cols_[i]) += values_[i];
    188   }
    189 }
    190 
    191 void TripletSparseMatrix::AppendRows(const TripletSparseMatrix& B) {
    192   CHECK_EQ(B.num_cols(), num_cols_);
    193   Reserve(num_nonzeros_ + B.num_nonzeros_);
    194   for (int i = 0; i < B.num_nonzeros_; ++i) {
    195     rows_.get()[num_nonzeros_] = B.rows()[i] + num_rows_;
    196     cols_.get()[num_nonzeros_] = B.cols()[i];
    197     values_.get()[num_nonzeros_++] = B.values()[i];
    198   }
    199   num_rows_ = num_rows_ + B.num_rows();
    200 }
    201 
    202 void TripletSparseMatrix::AppendCols(const TripletSparseMatrix& B) {
    203   CHECK_EQ(B.num_rows(), num_rows_);
    204   Reserve(num_nonzeros_ + B.num_nonzeros_);
    205   for (int i = 0; i < B.num_nonzeros_; ++i, ++num_nonzeros_) {
    206     rows_.get()[num_nonzeros_] = B.rows()[i];
    207     cols_.get()[num_nonzeros_] = B.cols()[i] + num_cols_;
    208     values_.get()[num_nonzeros_] = B.values()[i];
    209   }
    210   num_cols_ = num_cols_ + B.num_cols();
    211 }
    212 
    213 
    214 void TripletSparseMatrix::Resize(int new_num_rows, int new_num_cols) {
    215   if ((new_num_rows >= num_rows_) && (new_num_cols >= num_cols_)) {
    216     num_rows_  = new_num_rows;
    217     num_cols_ = new_num_cols;
    218     return;
    219   }
    220 
    221   num_rows_ = new_num_rows;
    222   num_cols_ = new_num_cols;
    223 
    224   int* r_ptr = rows_.get();
    225   int* c_ptr = cols_.get();
    226   double* v_ptr = values_.get();
    227 
    228   int dropped_terms = 0;
    229   for (int i = 0; i < num_nonzeros_; ++i) {
    230     if ((r_ptr[i] < num_rows_) && (c_ptr[i] < num_cols_)) {
    231       if (dropped_terms) {
    232         r_ptr[i-dropped_terms] = r_ptr[i];
    233         c_ptr[i-dropped_terms] = c_ptr[i];
    234         v_ptr[i-dropped_terms] = v_ptr[i];
    235       }
    236     } else {
    237       ++dropped_terms;
    238     }
    239   }
    240   num_nonzeros_ -= dropped_terms;
    241 }
    242 
    243 TripletSparseMatrix* TripletSparseMatrix::CreateSparseDiagonalMatrix(
    244     const double* values, int num_rows) {
    245   TripletSparseMatrix* m =
    246       new TripletSparseMatrix(num_rows, num_rows, num_rows);
    247   for (int i = 0; i < num_rows; ++i) {
    248     m->mutable_rows()[i] = i;
    249     m->mutable_cols()[i] = i;
    250     m->mutable_values()[i] = values[i];
    251   }
    252   m->set_num_nonzeros(num_rows);
    253   return m;
    254 }
    255 
    256 void TripletSparseMatrix::ToTextFile(FILE* file) const {
    257   CHECK_NOTNULL(file);
    258   for (int i = 0; i < num_nonzeros_; ++i) {
    259     fprintf(file, "% 10d % 10d %17f\n", rows_[i], cols_[i], values_[i]);
    260   }
    261 }
    262 
    263 }  // namespace internal
    264 }  // namespace ceres
    265