| // 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" |
| // 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: keir@google.com (Keir Mierle) |
| |
| #include "ceres/dense_sparse_matrix.h" |
| |
| #include <algorithm> |
| |
| #include "ceres/internal/eigen.h" |
| #include "ceres/internal/port.h" |
| #include "ceres/triplet_sparse_matrix.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols) |
| : has_diagonal_appended_(false), has_diagonal_reserved_(false) { |
| m_.resize(num_rows, num_cols); |
| m_.setZero(); |
| } |
| |
| DenseSparseMatrix::DenseSparseMatrix(int num_rows, |
| int num_cols, |
| bool reserve_diagonal) |
| : has_diagonal_appended_(false), has_diagonal_reserved_(reserve_diagonal) { |
| if (reserve_diagonal) { |
| // Allocate enough space for the diagonal. |
| m_.resize(num_rows + num_cols, num_cols); |
| } else { |
| m_.resize(num_rows, num_cols); |
| } |
| m_.setZero(); |
| } |
| |
| DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m) |
| : m_(Eigen::MatrixXd::Zero(m.num_rows(), m.num_cols())), |
| has_diagonal_appended_(false), |
| has_diagonal_reserved_(false) { |
| const double* values = m.values(); |
| const int* rows = m.rows(); |
| const int* cols = m.cols(); |
| int num_nonzeros = m.num_nonzeros(); |
| |
| for (int i = 0; i < num_nonzeros; ++i) { |
| m_(rows[i], cols[i]) += values[i]; |
| } |
| } |
| |
| DenseSparseMatrix::DenseSparseMatrix(const ColMajorMatrix& m) |
| : m_(m), has_diagonal_appended_(false), has_diagonal_reserved_(false) {} |
| |
| void DenseSparseMatrix::SetZero() { m_.setZero(); } |
| |
| void DenseSparseMatrix::RightMultiply(const double* x, double* y) const { |
| VectorRef(y, num_rows()) += matrix() * ConstVectorRef(x, num_cols()); |
| } |
| |
| void DenseSparseMatrix::LeftMultiply(const double* x, double* y) const { |
| VectorRef(y, num_cols()) += |
| matrix().transpose() * ConstVectorRef(x, num_rows()); |
| } |
| |
| void DenseSparseMatrix::SquaredColumnNorm(double* x) const { |
| VectorRef(x, num_cols()) = m_.colwise().squaredNorm(); |
| } |
| |
| void DenseSparseMatrix::ScaleColumns(const double* scale) { |
| m_ *= ConstVectorRef(scale, num_cols()).asDiagonal(); |
| } |
| |
| void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const { |
| *dense_matrix = m_.block(0, 0, num_rows(), num_cols()); |
| } |
| |
| void DenseSparseMatrix::AppendDiagonal(double* d) { |
| CHECK(!has_diagonal_appended_); |
| if (!has_diagonal_reserved_) { |
| ColMajorMatrix tmp = m_; |
| m_.resize(m_.rows() + m_.cols(), m_.cols()); |
| m_.setZero(); |
| m_.block(0, 0, tmp.rows(), tmp.cols()) = tmp; |
| has_diagonal_reserved_ = true; |
| } |
| |
| m_.bottomLeftCorner(m_.cols(), m_.cols()) = |
| ConstVectorRef(d, m_.cols()).asDiagonal(); |
| has_diagonal_appended_ = true; |
| } |
| |
| void DenseSparseMatrix::RemoveDiagonal() { |
| CHECK(has_diagonal_appended_); |
| has_diagonal_appended_ = false; |
| // Leave the diagonal reserved. |
| } |
| |
| int DenseSparseMatrix::num_rows() const { |
| if (has_diagonal_reserved_ && !has_diagonal_appended_) { |
| return m_.rows() - m_.cols(); |
| } |
| return m_.rows(); |
| } |
| |
| int DenseSparseMatrix::num_cols() const { return m_.cols(); } |
| |
| int DenseSparseMatrix::num_nonzeros() const { |
| if (has_diagonal_reserved_ && !has_diagonal_appended_) { |
| return (m_.rows() - m_.cols()) * m_.cols(); |
| } |
| return m_.rows() * m_.cols(); |
| } |
| |
| ConstColMajorMatrixRef DenseSparseMatrix::matrix() const { |
| return ConstColMajorMatrixRef( |
| m_.data(), |
| ((has_diagonal_reserved_ && !has_diagonal_appended_) |
| ? m_.rows() - m_.cols() |
| : m_.rows()), |
| m_.cols(), |
| Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1)); |
| } |
| |
| ColMajorMatrixRef DenseSparseMatrix::mutable_matrix() { |
| return ColMajorMatrixRef(m_.data(), |
| ((has_diagonal_reserved_ && !has_diagonal_appended_) |
| ? m_.rows() - m_.cols() |
| : m_.rows()), |
| m_.cols(), |
| Eigen::Stride<Eigen::Dynamic, 1>(m_.rows(), 1)); |
| } |
| |
| void DenseSparseMatrix::ToTextFile(FILE* file) const { |
| CHECK(file != nullptr); |
| const int active_rows = (has_diagonal_reserved_ && !has_diagonal_appended_) |
| ? (m_.rows() - m_.cols()) |
| : m_.rows(); |
| |
| for (int r = 0; r < active_rows; ++r) { |
| for (int c = 0; c < m_.cols(); ++c) { |
| fprintf(file, "% 10d % 10d %17f\n", r, c, m_(r, c)); |
| } |
| } |
| } |
| |
| } // namespace internal |
| } // namespace ceres |