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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)
- #include "ceres/detect_structure.h"
- #include "ceres/internal/eigen.h"
- #include "glog/logging.h"
- namespace ceres::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;
- }
- }
- }
- // clang-format off
- const bool is_everything_dynamic = (*row_block_size == Eigen::Dynamic &&
- *e_block_size == Eigen::Dynamic &&
- *f_block_size == Eigen::Dynamic);
- // clang-format on
- 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";
- // clang-format off
- VLOG(1) << "Schur complement static structure <"
- << *row_block_size << ","
- << *e_block_size << ","
- << *f_block_size << ">.";
- // clang-format on
- }
- } // namespace ceres::internal
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