1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
|
// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 Google Inc. All rights reserved.
// http://code.google.com/p/ceres-solver/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/block_random_access_diagonal_matrix.h"
#include <algorithm>
#include <set>
#include <utility>
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
#include "ceres/stl_util.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix(
const vector<int>& blocks)
: blocks_(blocks) {
// Build the row/column layout vector and count the number of scalar
// rows/columns.
int num_cols = 0;
int num_nonzeros = 0;
vector<int> col_layout;
for (int i = 0; i < blocks_.size(); ++i) {
col_layout.push_back(num_cols);
num_cols += blocks_[i];
num_nonzeros += blocks_[i] * blocks_[i];
}
VLOG(1) << "Matrix Size [" << num_cols
<< "," << num_cols
<< "] " << num_nonzeros;
tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros));
tsm_->set_num_nonzeros(num_nonzeros);
int* rows = tsm_->mutable_rows();
int* cols = tsm_->mutable_cols();
double* values = tsm_->mutable_values();
int pos = 0;
for (int i = 0; i < blocks_.size(); ++i) {
const int block_size = blocks_[i];
layout_.push_back(new CellInfo(values + pos));
const int block_begin = col_layout[i];
for (int r = 0; r < block_size; ++r) {
for (int c = 0; c < block_size; ++c, ++pos) {
rows[pos] = block_begin + r;
cols[pos] = block_begin + c;
}
}
}
}
// Assume that the user does not hold any locks on any cell blocks
// when they are calling SetZero.
BlockRandomAccessDiagonalMatrix::~BlockRandomAccessDiagonalMatrix() {
STLDeleteContainerPointers(layout_.begin(), layout_.end());
}
CellInfo* BlockRandomAccessDiagonalMatrix::GetCell(int row_block_id,
int col_block_id,
int* row,
int* col,
int* row_stride,
int* col_stride) {
if (row_block_id != col_block_id) {
return NULL;
}
const int stride = blocks_[row_block_id];
// Each cell is stored contiguously as its own little dense matrix.
*row = 0;
*col = 0;
*row_stride = stride;
*col_stride = stride;
return layout_[row_block_id];
}
// Assume that the user does not hold any locks on any cell blocks
// when they are calling SetZero.
void BlockRandomAccessDiagonalMatrix::SetZero() {
if (tsm_->num_nonzeros()) {
VectorRef(tsm_->mutable_values(),
tsm_->num_nonzeros()).setZero();
}
}
} // namespace internal
} // namespace ceres
|
