Initial commit of Ceres Solver.
diff --git a/internal/ceres/block_random_access_sparse_matrix.cc b/internal/ceres/block_random_access_sparse_matrix.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 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_sparse_matrix.h"
+
+#include <algorithm>
+#include <set>
+#include <utility>
+#include <vector>
+#include <glog/logging.h>
+#include "ceres/mutex.h"
+#include "ceres/triplet_sparse_matrix.h"
+#include "ceres/internal/port.h"
+#include "ceres/internal/scoped_ptr.h"
+#include "ceres/types.h"
+
+namespace ceres {
+namespace internal {
+
+BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix(
+ const vector<int>& blocks,
+ const set<pair<int, int> >& block_pairs)
+ : kMaxRowBlocks(10 * 1000 * 1000),
+ blocks_(blocks) {
+ CHECK_LT(blocks.size(), kMaxRowBlocks);
+
+ // Build the row/column layout vector and count the number of scalar
+ // rows/columns.
+ int num_cols = 0;
+ vector<int> col_layout;
+ for (int i = 0; i < blocks_.size(); ++i) {
+ col_layout.push_back(num_cols);
+ num_cols += blocks_[i];
+ }
+
+ // Count the number of scalar non-zero entries and build the layout
+ // object for looking into the values array of the
+ // TripletSparseMatrix.
+ int num_nonzeros = 0;
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ num_nonzeros += row_block_size * col_block_size;
+ }
+
+ 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 (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_size = blocks_[it->first];
+ const int col_block_size = blocks_[it->second];
+ layout_[IntPairToLong(it->first, it->second)] =
+ new CellInfo(values + pos);
+ pos += row_block_size * col_block_size;
+ }
+
+ // Fill the sparsity pattern of the underlying matrix.
+ for (set<pair<int, int> >::const_iterator it = block_pairs.begin();
+ it != block_pairs.end();
+ ++it) {
+ const int row_block_id = it->first;
+ const int col_block_id = it->second;
+ const int row_block_size = blocks_[row_block_id];
+ const int col_block_size = blocks_[col_block_id];
+ int pos =
+ layout_[IntPairToLong(row_block_id, col_block_id)]->values - values;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c, ++pos) {
+ rows[pos] = col_layout[row_block_id] + r;
+ cols[pos] = col_layout[col_block_id] + c;
+ values[pos] = 1.0;
+ DCHECK_LT(rows[pos], tsm_->num_rows());
+ DCHECK_LT(cols[pos], tsm_->num_rows());
+ }
+ }
+ }
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+BlockRandomAccessSparseMatrix::~BlockRandomAccessSparseMatrix() {
+ for (LayoutType::iterator it = layout_.begin();
+ it != layout_.end();
+ ++it) {
+ delete it->second;
+ }
+}
+
+CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id,
+ int col_block_id,
+ int* row,
+ int* col,
+ int* row_stride,
+ int* col_stride) {
+ const LayoutType::iterator it =
+ layout_.find(IntPairToLong(row_block_id, col_block_id));
+ if (it == layout_.end()) {
+ return NULL;
+ }
+
+ // Each cell is stored contiguously as its own little dense matrix.
+ *row = 0;
+ *col = 0;
+ *row_stride = blocks_[row_block_id];
+ *col_stride = blocks_[col_block_id];
+ return it->second;
+}
+
+// Assume that the user does not hold any locks on any cell blocks
+// when they are calling SetZero.
+void BlockRandomAccessSparseMatrix::SetZero() {
+ if (tsm_->num_nonzeros()) {
+ VectorRef(tsm_->mutable_values(),
+ tsm_->num_nonzeros()).setZero();
+ }
+}
+
+} // namespace internal
+} // namespace ceres
