mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
03caeed1c6
Replace ceres::String* with their more modern and performant absl strings library equivalent and delete our string manipulation library. Change-Id: Iecbdba9864e0abf329778f81fdc0708f78f7594f
118 lines
4.2 KiB
C++
118 lines
4.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: keir@google.com (Keir Mierle)
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#include "ceres/dense_sparse_matrix.h"
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#include <algorithm>
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#include <utility>
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#include "absl/log/check.h"
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#include "absl/strings/str_format.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/export.h"
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#include "ceres/triplet_sparse_matrix.h"
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namespace ceres::internal {
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DenseSparseMatrix::DenseSparseMatrix(int num_rows, int num_cols)
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: m_(Matrix(num_rows, num_cols)) {}
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DenseSparseMatrix::DenseSparseMatrix(const TripletSparseMatrix& m)
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: m_(Matrix::Zero(m.num_rows(), m.num_cols())) {
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const double* values = m.values();
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const int* rows = m.rows();
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const int* cols = m.cols();
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int num_nonzeros = m.num_nonzeros();
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for (int i = 0; i < num_nonzeros; ++i) {
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m_(rows[i], cols[i]) += values[i];
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}
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}
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DenseSparseMatrix::DenseSparseMatrix(Matrix m) : m_(std::move(m)) {}
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void DenseSparseMatrix::SetZero() { m_.setZero(); }
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void DenseSparseMatrix::RightMultiplyAndAccumulate(const double* x,
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double* y) const {
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VectorRef(y, num_rows()).noalias() += m_ * ConstVectorRef(x, num_cols());
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}
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void DenseSparseMatrix::LeftMultiplyAndAccumulate(const double* x,
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double* y) const {
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VectorRef(y, num_cols()).noalias() +=
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m_.transpose() * ConstVectorRef(x, num_rows());
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}
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void DenseSparseMatrix::SquaredColumnNorm(double* x) const {
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// This implementation is 3x faster than the naive version
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// x = m_.colwise().square().sum(), likely because m_
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// is a row major matrix.
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const int num_rows = m_.rows();
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const int num_cols = m_.cols();
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std::fill_n(x, num_cols, 0.0);
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const double* m = m_.data();
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for (int i = 0; i < num_rows; ++i) {
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for (int j = 0; j < num_cols; ++j, ++m) {
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x[j] += (*m) * (*m);
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}
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}
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}
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void DenseSparseMatrix::ScaleColumns(const double* scale) {
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m_ *= ConstVectorRef(scale, num_cols()).asDiagonal();
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}
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void DenseSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
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*dense_matrix = m_;
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}
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int DenseSparseMatrix::num_rows() const { return m_.rows(); }
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int DenseSparseMatrix::num_cols() const { return m_.cols(); }
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int DenseSparseMatrix::num_nonzeros() const { return m_.rows() * m_.cols(); }
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const Matrix& DenseSparseMatrix::matrix() const { return m_; }
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Matrix* DenseSparseMatrix::mutable_matrix() { return &m_; }
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void DenseSparseMatrix::ToTextFile(FILE* file) const {
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CHECK(file != nullptr);
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for (int r = 0; r < m_.rows(); ++r) {
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for (int c = 0; c < m_.cols(); ++c) {
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absl::FPrintF(file, "% 10d % 10d %17f\n", r, c, m_(r, c));
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}
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}
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}
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} // namespace ceres::internal
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