Remove BlockRandomAccessCRSMatrix. It is not used anywhere. Change-Id: I2a8ebbdacf788582f21266825ead3f76646da29e
diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt index 7b7f21d..f077547 100644 --- a/internal/ceres/CMakeLists.txt +++ b/internal/ceres/CMakeLists.txt
@@ -34,7 +34,6 @@ block_evaluate_preparer.cc block_jacobi_preconditioner.cc block_jacobian_writer.cc - block_random_access_crs_matrix.cc block_random_access_dense_matrix.cc block_random_access_diagonal_matrix.cc block_random_access_matrix.cc @@ -224,7 +223,6 @@ CERES_TEST(autodiff) CERES_TEST(autodiff_cost_function) CERES_TEST(autodiff_local_parameterization) - CERES_TEST(block_random_access_crs_matrix) CERES_TEST(block_random_access_dense_matrix) CERES_TEST(block_random_access_diagonal_matrix) CERES_TEST(block_random_access_sparse_matrix)
diff --git a/internal/ceres/block_random_access_crs_matrix.cc b/internal/ceres/block_random_access_crs_matrix.cc deleted file mode 100644 index 5b008e2..0000000 --- a/internal/ceres/block_random_access_crs_matrix.cc +++ /dev/null
@@ -1,170 +0,0 @@ -// 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_crs_matrix.h" - -#include <algorithm> -#include <set> -#include <utility> -#include <vector> -#include "ceres/compressed_row_sparse_matrix.h" -#include "ceres/internal/port.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/mutex.h" -#include "ceres/triplet_sparse_matrix.h" -#include "ceres/types.h" -#include "glog/logging.h" - -namespace ceres { -namespace internal { - -BlockRandomAccessCRSMatrix::BlockRandomAccessCRSMatrix( - const vector<int>& blocks, - const set<pair<int, int> >& block_pairs) - : kMaxRowBlocks(10 * 1000 * 1000), - blocks_(blocks) { - CHECK_LT(blocks.size(), kMaxRowBlocks); - - col_layout_.resize(blocks_.size(), 0); - row_strides_.resize(blocks_.size(), 0); - - // Build the row/column layout vector and count the number of scalar - // rows/columns. - int num_cols = 0; - for (int i = 0; i < blocks_.size(); ++i) { - col_layout_[i] = num_cols; - num_cols += blocks_[i]; - } - - // Walk the sparsity pattern and count the number of non-zeros. - 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(2) << "Matrix Size [" << num_cols - << "," << num_cols - << "] " << num_nonzeros; - - crsm_.reset(new CompressedRowSparseMatrix(num_cols, num_cols, num_nonzeros)); - int* rows = crsm_->mutable_rows(); - int* cols = crsm_->mutable_cols(); - double* values = crsm_->mutable_values(); - - // Iterate over the sparsity pattern and fill the scalar sparsity - // pattern of the underlying compressed sparse row matrix. Along the - // way also fill out the Layout object which will allow random - // access into the CRS Matrix. - set<pair<int, int> >::const_iterator it = block_pairs.begin(); - vector<int> col_blocks; - int row_pos = 0; - rows[0] = 0; - while (it != block_pairs.end()) { - // Add entries to layout_ for all the blocks for this row. - col_blocks.clear(); - const int row_block_id = it->first; - const int row_block_size = blocks_[row_block_id]; - int num_cols = 0; - while ((it != block_pairs.end()) && (it->first == row_block_id)) { - layout_[IntPairToLong(it->first, it->second)] = - new CellInfo(values + num_cols); - col_blocks.push_back(it->second); - num_cols += blocks_[it->second]; - ++it; - }; - - // Count the number of non-zeros in the row block. - for (int j = 0; j < row_block_size; ++j) { - rows[row_pos + j + 1] = rows[row_pos + j] + num_cols; - } - - // Fill out the sparsity pattern for each row. - int col_pos = 0; - for (int j = 0; j < col_blocks.size(); ++j) { - const int col_block_id = col_blocks[j]; - const int col_block_size = blocks_[col_block_id]; - for (int r = 0; r < row_block_size; ++r) { - const int column_block_begin = rows[row_pos + r] + col_pos; - for (int c = 0; c < col_block_size; ++c) { - cols[column_block_begin + c] = col_layout_[col_block_id] + c; - } - } - col_pos += col_block_size; - } - - row_pos += row_block_size; - values += row_block_size * num_cols; - row_strides_[row_block_id] = num_cols; - } -} - -// Assume that the user does not hold any locks on any cell blocks -// when they are calling SetZero. -BlockRandomAccessCRSMatrix::~BlockRandomAccessCRSMatrix() { - // TODO(sameeragarwal) this should be rationalized going forward and - // perhaps moved into BlockRandomAccessMatrix. - for (LayoutType::iterator it = layout_.begin(); - it != layout_.end(); - ++it) { - delete it->second; - } -} - -CellInfo* BlockRandomAccessCRSMatrix::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; - } - - *row = 0; - *col = 0; - *row_stride = blocks_[row_block_id]; - *col_stride = row_strides_[row_block_id]; - return it->second; -} - -// Assume that the user does not hold any locks on any cell blocks -// when they are calling SetZero. -void BlockRandomAccessCRSMatrix::SetZero() { - crsm_->SetZero(); -} - -} // namespace internal -} // namespace ceres
diff --git a/internal/ceres/block_random_access_crs_matrix.h b/internal/ceres/block_random_access_crs_matrix.h deleted file mode 100644 index 11a203b..0000000 --- a/internal/ceres/block_random_access_crs_matrix.h +++ /dev/null
@@ -1,108 +0,0 @@ -// 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) - -#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_CRS_MATRIX_H_ -#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_CRS_MATRIX_H_ - -#include <set> -#include <vector> -#include <utility> -#include "ceres/mutex.h" -#include "ceres/block_random_access_matrix.h" -#include "ceres/compressed_row_sparse_matrix.h" -#include "ceres/collections_port.h" -#include "ceres/integral_types.h" -#include "ceres/internal/macros.h" -#include "ceres/internal/port.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/types.h" - -namespace ceres { -namespace internal { - -// A square BlockRandomAccessMatrix where the underlying storage is a -// compressed row sparse matrix. The matrix need not be symmetric. -class BlockRandomAccessCRSMatrix : 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. - BlockRandomAccessCRSMatrix(const vector<int>& blocks, - const set<pair<int, int> >& block_pairs); - - // The destructor is not thread safe. It assumes that no one is - // modifying any cells when the matrix is being destroyed. - virtual ~BlockRandomAccessCRSMatrix(); - - // BlockRandomAccessMatrix Interface. - virtual CellInfo* GetCell(int row_block_id, - int col_block_id, - int* row, - int* col, - int* row_stride, - int* col_stride); - - // This is not a thread safe method, it assumes that no cell is - // locked. - virtual void SetZero(); - - // Since the matrix is square, num_rows() == num_cols(). - virtual int num_rows() const { return crsm_->num_rows(); } - virtual int num_cols() const { return crsm_->num_cols(); } - - // Access to the underlying matrix object. - const CompressedRowSparseMatrix* matrix() const { return crsm_.get(); } - CompressedRowSparseMatrix* mutable_matrix() { return crsm_.get(); } - - private: - int64 IntPairToLong(int a, int b) { - return a * kMaxRowBlocks + b; - } - - const int64 kMaxRowBlocks; - // row/column block sizes. - const vector<int> blocks_; - vector<int> col_layout_; - vector<int> row_strides_; - - // A mapping from <row_block_id, col_block_id> to the position in - // the values array of tsm_ where the block is stored. - typedef HashMap<long int, CellInfo* > LayoutType; - LayoutType layout_; - - scoped_ptr<CompressedRowSparseMatrix> crsm_; - friend class BlockRandomAccessCRSMatrixTest; - CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessCRSMatrix); -}; - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_CRS_MATRIX_H_
diff --git a/internal/ceres/block_random_access_crs_matrix_test.cc b/internal/ceres/block_random_access_crs_matrix_test.cc deleted file mode 100644 index 1266c4f..0000000 --- a/internal/ceres/block_random_access_crs_matrix_test.cc +++ /dev/null
@@ -1,148 +0,0 @@ -// 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 <limits> -#include <vector> -#include "ceres/block_random_access_crs_matrix.h" -#include "ceres/internal/eigen.h" -#include "glog/logging.h" -#include "gtest/gtest.h" - -namespace ceres { -namespace internal { - -TEST(BlockRandomAccessCRSMatrix, GetCell) { - vector<int> blocks; - blocks.push_back(3); - blocks.push_back(4); - blocks.push_back(5); - const int num_rows = 3 + 4 + 5; - - set< pair<int, int> > block_pairs; - int num_nonzeros = 0; - block_pairs.insert(make_pair(0, 0)); - num_nonzeros += blocks[0] * blocks[0]; - - block_pairs.insert(make_pair(1, 1)); - num_nonzeros += blocks[1] * blocks[1]; - - block_pairs.insert(make_pair(1, 2)); - num_nonzeros += blocks[1] * blocks[2]; - - block_pairs.insert(make_pair(2, 0)); - num_nonzeros += blocks[2] * blocks[0]; - - BlockRandomAccessCRSMatrix m(blocks, block_pairs); - EXPECT_EQ(m.num_rows(), num_rows); - EXPECT_EQ(m.num_cols(), num_rows); - - 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; - int row; - int col; - int row_stride; - int col_stride; - CellInfo* cell = m.GetCell(row_block_id, col_block_id, - &row, &col, - &row_stride, &col_stride); - EXPECT_TRUE(cell != NULL); - EXPECT_EQ(row, 0); - EXPECT_EQ(col, 0); - - // Write into the block. - MatrixRef(cell->values, row_stride, col_stride).block( - row, col, blocks[row_block_id], blocks[col_block_id]) = - (row_block_id + 1) * (col_block_id +1) * - Matrix::Ones(blocks[row_block_id], blocks[col_block_id]); - } - - const CompressedRowSparseMatrix* crsm = m.matrix(); - EXPECT_EQ(crsm->num_nonzeros(), num_nonzeros); - - Matrix dense; - crsm->ToDenseMatrix(&dense); - - double kTolerance = 1e-14; - - // (0,0) - EXPECT_NEAR((dense.block(0, 0, 3, 3) - Matrix::Ones(3, 3)).norm(), - 0.0, - kTolerance); - // (1,1) - EXPECT_NEAR((dense.block(3, 3, 4, 4) - 2 * 2 * Matrix::Ones(4, 4)).norm(), - 0.0, - kTolerance); - // (1,2) - EXPECT_NEAR((dense.block(3, 3 + 4, 4, 5) - 2 * 3 * Matrix::Ones(4, 5)).norm(), - 0.0, - kTolerance); - // (2,0) - EXPECT_NEAR((dense.block(3 + 4, 0, 5, 3) - 3 * 1 * Matrix::Ones(5, 3)).norm(), - 0.0, - kTolerance); - - // There is nothing else in the matrix besides these four blocks. - EXPECT_NEAR(dense.norm(), sqrt(9. + 16. * 16. + 36. * 20. + 9. * 15.), - kTolerance); -} - -// IntPairToLong is private, thus this fixture is needed to access and -// test it. -class BlockRandomAccessCRSMatrixTest : public ::testing::Test { - public: - virtual void SetUp() { - vector<int> blocks; - blocks.push_back(1); - set< pair<int, int> > block_pairs; - block_pairs.insert(make_pair(0, 0)); - m_.reset(new BlockRandomAccessCRSMatrix(blocks, block_pairs)); - } - - void CheckIntPair(int a, int b) { - int64 value = m_->IntPairToLong(a, b); - EXPECT_GT(value, 0) << "Overflow a = " << a << " b = " << b; - EXPECT_GT(value, a) << "Overflow a = " << a << " b = " << b; - EXPECT_GT(value, b) << "Overflow a = " << a << " b = " << b; - } - - private: - scoped_ptr<BlockRandomAccessCRSMatrix> m_; -}; - -TEST_F(BlockRandomAccessCRSMatrixTest, IntPairToLongOverflow) { - CheckIntPair(numeric_limits<int>::max(), numeric_limits<int>::max()); -} - - -} // namespace internal -} // namespace ceres