| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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" |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ |
| #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ |
| |
| #include <cstdint> |
| #include <memory> |
| #include <set> |
| #include <unordered_map> |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/block_random_access_matrix.h" |
| #include "ceres/block_structure.h" |
| #include "ceres/context_impl.h" |
| #include "ceres/internal/disable_warnings.h" |
| #include "ceres/internal/export.h" |
| #include "ceres/small_blas.h" |
| #include "ceres/triplet_sparse_matrix.h" |
| #include "ceres/types.h" |
| |
| namespace ceres::internal { |
| |
| // A thread safe square block sparse implementation of |
| // BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used |
| // for doing the actual storage. This class augments this matrix with |
| // an unordered_map that allows random read/write access. |
| class CERES_NO_EXPORT BlockRandomAccessSparseMatrix |
| : public BlockRandomAccessMatrix { |
| public: |
| // blocks is an array of block sizes. block_pairs is a set of |
| // <row_block_id, col_block_id> pairs to identify the non-zero cells |
| // of this matrix. |
| BlockRandomAccessSparseMatrix( |
| const std::vector<Block>& blocks, |
| const std::set<std::pair<int, int>>& block_pairs, |
| ContextImpl* context, |
| int num_threads); |
| |
| // The destructor is not thread safe. It assumes that no one is |
| // modifying any cells when the matrix is being destroyed. |
| ~BlockRandomAccessSparseMatrix() override = default; |
| |
| // BlockRandomAccessMatrix Interface. |
| CellInfo* GetCell(int row_block_id, |
| int col_block_id, |
| int* row, |
| int* col, |
| int* row_stride, |
| int* col_stride) final; |
| |
| // This is not a thread safe method, it assumes that no cell is |
| // locked. |
| void SetZero() final; |
| |
| // Assume that the matrix is symmetric and only one half of the |
| // matrix is stored. |
| // |
| // y += S * x |
| void SymmetricRightMultiplyAndAccumulate(const double* x, double* y) const; |
| |
| // Since the matrix is square, num_rows() == num_cols(). |
| int num_rows() const final { return tsm_->num_rows(); } |
| int num_cols() const final { return tsm_->num_cols(); } |
| |
| // Access to the underlying matrix object. |
| const TripletSparseMatrix* matrix() const { return tsm_.get(); } |
| TripletSparseMatrix* mutable_matrix() { return tsm_.get(); } |
| |
| private: |
| int64_t IntPairToLong(int row, int col) const { |
| return row * kMaxRowBlocks + col; |
| } |
| |
| void LongToIntPair(int64_t index, int* row, int* col) const { |
| *row = index / kMaxRowBlocks; |
| *col = index % kMaxRowBlocks; |
| } |
| |
| const int64_t kMaxRowBlocks; |
| |
| // row/column block sizes. |
| const std::vector<Block> blocks_; |
| ContextImpl* context_ = nullptr; |
| const int num_threads_ = 1; |
| |
| // A mapping from <row_block_id, col_block_id> to the position in |
| // the values array of tsm_ where the block is stored. |
| using LayoutType = std::unordered_map<long, std::unique_ptr<CellInfo>>; |
| LayoutType layout_; |
| |
| // In order traversal of contents of the matrix. This allows us to |
| // implement a matrix-vector product which is 20% faster than using the |
| // iterator in the Layout object instead. |
| std::vector<std::pair<std::pair<int, int>, double*>> cell_values_; |
| // The underlying matrix object which actually stores the cells. |
| std::unique_ptr<TripletSparseMatrix> tsm_; |
| |
| friend class BlockRandomAccessSparseMatrixTest; |
| }; |
| |
| } // namespace ceres::internal |
| |
| #include "ceres/internal/reenable_warnings.h" |
| |
| #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ |