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// 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)
#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
#include <cstdint>
#include <memory>
#include <set>
#include <unordered_map>
#include <utility>
#include <vector>
#include "ceres/block_random_access_matrix.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/internal/port.h"
#include "ceres/types.h"
#include "ceres/small_blas.h"
namespace ceres {
namespace internal {
// A thread safe square block sparse implementation of
// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
// for doing the actual storage. This class augments this matrix with
// an unordered_map that allows random read/write access.
class BlockRandomAccessSparseMatrix : 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.
BlockRandomAccessSparseMatrix(
const std::vector<int>& blocks,
const std::set<std::pair<int, int>>& block_pairs);
BlockRandomAccessSparseMatrix(const BlockRandomAccessSparseMatrix&) = delete;
void operator=(const BlockRandomAccessSparseMatrix&) = delete;
// The destructor is not thread safe. It assumes that no one is
// modifying any cells when the matrix is being destroyed.
virtual ~BlockRandomAccessSparseMatrix();
// BlockRandomAccessMatrix Interface.
CellInfo* GetCell(int row_block_id,
int col_block_id,
int* row,
int* col,
int* row_stride,
int* col_stride) final;
// This is not a thread safe method, it assumes that no cell is
// locked.
void SetZero() final;
// Assume that the matrix is symmetric and only one half of the
// matrix is stored.
//
// y += S * x
void SymmetricRightMultiply(const double* x, double* y) const;
// Since the matrix is square, num_rows() == num_cols().
int num_rows() const final { return tsm_->num_rows(); }
int num_cols() const final { return tsm_->num_cols(); }
// Access to the underlying matrix object.
const TripletSparseMatrix* matrix() const { return tsm_.get(); }
TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
private:
int64_t IntPairToLong(int row, int col) const {
return row * kMaxRowBlocks + col;
}
void LongToIntPair(int64_t index, int* row, int* col) const {
*row = index / kMaxRowBlocks;
*col = index % kMaxRowBlocks;
}
const int64_t kMaxRowBlocks;
// row/column block sizes.
const std::vector<int> blocks_;
std::vector<int> block_positions_;
// A mapping from <row_block_id, col_block_id> to the position in
// the values array of tsm_ where the block is stored.
typedef std::unordered_map<long int, CellInfo* > LayoutType;
LayoutType layout_;
// In order traversal of contents of the matrix. This allows us to
// implement a matrix-vector which is 20% faster than using the
// iterator in the Layout object instead.
std::vector<std::pair<std::pair<int, int>, double*>> cell_values_;
// The underlying matrix object which actually stores the cells.
std::unique_ptr<TripletSparseMatrix> tsm_;
friend class BlockRandomAccessSparseMatrixTest;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
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