| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // 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/detect_structure.h" |
| |
| #include "ceres/internal/eigen.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| void DetectStructure(const CompressedRowBlockStructure& bs, |
| const int num_eliminate_blocks, |
| int* row_block_size, |
| int* e_block_size, |
| int* f_block_size) { |
| const int num_row_blocks = bs.rows.size(); |
| *row_block_size = 0; |
| *e_block_size = 0; |
| *f_block_size = 0; |
| |
| // Iterate over row blocks of the matrix, checking if row_block, |
| // e_block or f_block sizes remain constant. |
| for (int r = 0; r < num_row_blocks; ++r) { |
| const CompressedRow& row = bs.rows[r]; |
| // We do not care about the sizes of the blocks in rows which do |
| // not contain e_blocks. |
| if (row.cells.front().block_id >= num_eliminate_blocks) { |
| break; |
| } |
| |
| // Detect fixed or dynamic row block size. |
| if (*row_block_size == 0) { |
| *row_block_size = row.block.size; |
| } else if (*row_block_size != Eigen::Dynamic && |
| *row_block_size != row.block.size) { |
| VLOG(2) << "Dynamic row block size because the block size changed from " |
| << *row_block_size << " to " << row.block.size; |
| *row_block_size = Eigen::Dynamic; |
| } |
| |
| // Detect fixed or dynamic e-block size. |
| const int e_block_id = row.cells.front().block_id; |
| if (*e_block_size == 0) { |
| *e_block_size = bs.cols[e_block_id].size; |
| } else if (*e_block_size != Eigen::Dynamic && |
| *e_block_size != bs.cols[e_block_id].size) { |
| VLOG(2) << "Dynamic e block size because the block size changed from " |
| << *e_block_size << " to " << bs.cols[e_block_id].size; |
| *e_block_size = Eigen::Dynamic; |
| } |
| |
| // Detect fixed or dynamic f-block size. We are only interested in |
| // rows with e-blocks, and the e-block is always the first block, |
| // so only rows of size greater than 1 are of interest. |
| if (row.cells.size() > 1) { |
| if (*f_block_size == 0) { |
| const int f_block_id = row.cells[1].block_id; |
| *f_block_size = bs.cols[f_block_id].size; |
| } |
| |
| for (int c = 1; |
| (c < row.cells.size()) && (*f_block_size != Eigen::Dynamic); |
| ++c) { |
| const int f_block_id = row.cells[c].block_id; |
| if (*f_block_size != bs.cols[f_block_id].size) { |
| VLOG(2) << "Dynamic f block size because the block size " |
| << "changed from " << *f_block_size << " to " |
| << bs.cols[f_block_id].size; |
| *f_block_size = Eigen::Dynamic; |
| } |
| } |
| } |
| |
| // clang-format off |
| const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic && |
| *e_block_size == Eigen::Dynamic && |
| *f_block_size == Eigen::Dynamic); |
| // clang-format on |
| if (is_everything_dynamic) { |
| break; |
| } |
| } |
| |
| CHECK_NE(*row_block_size, 0) << "No rows found"; |
| CHECK_NE(*e_block_size, 0) << "No e type blocks found"; |
| // clang-format off |
| VLOG(1) << "Schur complement static structure <" |
| << *row_block_size << "," |
| << *e_block_size << "," |
| << *f_block_size << ">."; |
| // clang-format on |
| } |
| |
| } // namespace ceres::internal |