| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2022 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // 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 |
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| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #include "ceres/block_random_access_diagonal_matrix.h" |
| |
| #include <algorithm> |
| #include <memory> |
| #include <set> |
| #include <utility> |
| #include <vector> |
| |
| #include "Eigen/Dense" |
| #include "ceres/internal/export.h" |
| #include "ceres/stl_util.h" |
| #include "ceres/triplet_sparse_matrix.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| // TODO(sameeragarwal): Drop the dependence on TripletSparseMatrix. |
| |
| BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix( |
| std::vector<Block> blocks) |
| : blocks_(std::move(blocks)) { |
| const int num_cols = NumScalarEntries(blocks_); |
| const int num_nonzeros = SumSquaredSizes(blocks_); |
| VLOG(1) << "Matrix Size [" << num_cols << "," << num_cols << "] " |
| << num_nonzeros; |
| |
| tsm_ = |
| std::make_unique<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 (auto& block : blocks_) { |
| layout_.push_back(new CellInfo(values + pos)); |
| for (int r = 0; r < block.size; ++r) { |
| for (int c = 0; c < block.size; ++c, ++pos) { |
| rows[pos] = block.position + r; |
| cols[pos] = block.position + 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 nullptr; |
| } |
| const int stride = blocks_[row_block_id].size; |
| |
| // 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(); |
| } |
| } |
| |
| void BlockRandomAccessDiagonalMatrix::Invert() { |
| double* values = tsm_->mutable_values(); |
| for (auto& block : blocks_) { |
| MatrixRef b(values, block.size, block.size); |
| b = b.selfadjointView<Eigen::Upper>().llt().solve( |
| Matrix::Identity(block.size, block.size)); |
| values += block.size * block.size; |
| } |
| } |
| |
| void BlockRandomAccessDiagonalMatrix::RightMultiplyAndAccumulate( |
| const double* x, double* y) const { |
| CHECK(x != nullptr); |
| CHECK(y != nullptr); |
| const double* values = tsm_->values(); |
| for (auto& block : blocks_) { |
| ConstMatrixRef b(values, block.size, block.size); |
| VectorRef(y, block.size).noalias() += b * ConstVectorRef(x, block.size); |
| x += block.size; |
| y += block.size; |
| values += block.size * block.size; |
| } |
| } |
| |
| } // namespace ceres::internal |