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
