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Diffstat (limited to 'extern/ceres/internal/ceres/detect_structure.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/detect_structure.cc | 120 |
1 files changed, 120 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/detect_structure.cc b/extern/ceres/internal/ceres/detect_structure.cc new file mode 100644 index 00000000000..959a0ee3c84 --- /dev/null +++ b/extern/ceres/internal/ceres/detect_structure.cc @@ -0,0 +1,120 @@ +// 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/detect_structure.h" +#include "ceres/internal/eigen.h" +#include "glog/logging.h" + +namespace ceres { +namespace internal { + +void DetectStructure(const CompressedRowBlockStructure& bs, + const int num_eliminate_blocks, + int* row_block_size, + int* e_block_size, + int* f_block_size) { + const int num_row_blocks = bs.rows.size(); + *row_block_size = 0; + *e_block_size = 0; + *f_block_size = 0; + + // Iterate over row blocks of the matrix, checking if row_block, + // e_block or f_block sizes remain constant. + for (int r = 0; r < num_row_blocks; ++r) { + const CompressedRow& row = bs.rows[r]; + // We do not care about the sizes of the blocks in rows which do + // not contain e_blocks. + if (row.cells.front().block_id >= num_eliminate_blocks) { + break; + } + + // Detect fixed or dynamic row block size. + if (*row_block_size == 0) { + *row_block_size = row.block.size; + } else if (*row_block_size != Eigen::Dynamic && + *row_block_size != row.block.size) { + VLOG(2) << "Dynamic row block size because the block size changed from " + << *row_block_size << " to " + << row.block.size; + *row_block_size = Eigen::Dynamic; + } + + // Detect fixed or dynamic e-block size. + const int e_block_id = row.cells.front().block_id; + if (*e_block_size == 0) { + *e_block_size = bs.cols[e_block_id].size; + } else if (*e_block_size != Eigen::Dynamic && + *e_block_size != bs.cols[e_block_id].size) { + VLOG(2) << "Dynamic e block size because the block size changed from " + << *e_block_size << " to " + << bs.cols[e_block_id].size; + *e_block_size = Eigen::Dynamic; + } + + // Detect fixed or dynamic f-block size. We are only interested in + // rows with e-blocks, and the e-block is always the first block, + // so only rows of size greater than 1 are of interest. + if (row.cells.size() > 1) { + if (*f_block_size == 0) { + const int f_block_id = row.cells[1].block_id; + *f_block_size = bs.cols[f_block_id].size; + } + + for (int c = 1; + (c < row.cells.size()) && (*f_block_size != Eigen::Dynamic); + ++c) { + const int f_block_id = row.cells[c].block_id; + if (*f_block_size != bs.cols[f_block_id].size) { + VLOG(2) << "Dynamic f block size because the block size " + << "changed from " << *f_block_size << " to " + << bs.cols[f_block_id].size; + *f_block_size = Eigen::Dynamic; + } + } + } + + const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic && + *e_block_size == Eigen::Dynamic && + *f_block_size == Eigen::Dynamic); + if (is_everything_dynamic) { + break; + } + } + + CHECK_NE(*row_block_size, 0) << "No rows found"; + CHECK_NE(*e_block_size, 0) << "No e type blocks found"; + VLOG(1) << "Schur complement static structure <" + << *row_block_size << "," + << *e_block_size << "," + << *f_block_size << ">."; +} + +} // namespace internal +} // namespace ceres |