MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/block_random_access_diagonal_matrix.cc
2019-01-03 16:25:18 +08:00

155 lines
5.4 KiB
C++

// 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: sameeragarwal@google.com (Sameer Agarwal)
#include "ceres/block_random_access_diagonal_matrix.h"
#include <algorithm>
#include <set>
#include <utility>
#include <vector>
#include "Eigen/Dense"
#include "ceres/internal/port.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/stl_util.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/types.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
using std::vector;
// TODO(sameeragarwal): Drop the dependence on TripletSparseMatrix.
BlockRandomAccessDiagonalMatrix::BlockRandomAccessDiagonalMatrix(
const vector<int>& blocks)
: blocks_(blocks) {
// Build the row/column layout vector and count the number of scalar
// rows/columns.
int num_cols = 0;
int num_nonzeros = 0;
vector<int> block_positions;
for (int i = 0; i < blocks_.size(); ++i) {
block_positions.push_back(num_cols);
num_cols += blocks_[i];
num_nonzeros += blocks_[i] * blocks_[i];
}
VLOG(1) << "Matrix Size [" << num_cols
<< "," << num_cols
<< "] " << num_nonzeros;
tsm_.reset(new 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 (int i = 0; i < blocks_.size(); ++i) {
const int block_size = blocks_[i];
layout_.push_back(new CellInfo(values + pos));
const int block_begin = block_positions[i];
for (int r = 0; r < block_size; ++r) {
for (int c = 0; c < block_size; ++c, ++pos) {
rows[pos] = block_begin + r;
cols[pos] = block_begin + 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 NULL;
}
const int stride = blocks_[row_block_id];
// 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 (int i = 0; i < blocks_.size(); ++i) {
const int block_size = blocks_[i];
MatrixRef block(values, block_size, block_size);
block =
block
.selfadjointView<Eigen::Upper>()
.llt()
.solve(Matrix::Identity(block_size, block_size));
values += block_size * block_size;
}
}
void BlockRandomAccessDiagonalMatrix::RightMultiply(const double* x,
double* y) const {
CHECK_NOTNULL(x);
CHECK_NOTNULL(y);
const double* values = tsm_->values();
for (int i = 0; i < blocks_.size(); ++i) {
const int block_size = blocks_[i];
ConstMatrixRef block(values, block_size, block_size);
VectorRef(y, block_size).noalias() += block * ConstVectorRef(x, block_size);
x += block_size;
y += block_size;
values += block_size * block_size;
}
}
} // namespace internal
} // namespace ceres