1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 // For generalized bi-partite Jacobian matrices that arise in
32 // Structure from Motion related problems, it is sometimes useful to
33 // have access to the two parts of the matrix as linear operators
34 // themselves. This class provides that functionality.
36 #ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
37 #define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
43 #include "ceres/block_structure.h"
44 #include "ceres/internal/eigen.h"
45 #include "ceres/linear_solver.h"
46 #include "ceres/small_blas.h"
47 #include "glog/logging.h"
52 // Given generalized bi-partite matrix A = [E F], with the same block
53 // structure as required by the Schur complement based solver, found
54 // in explicit_schur_complement_solver.h, provide access to the
55 // matrices E and F and their outer products E'E and F'F with
58 // Lack of BlockStructure object will result in a crash and if the
59 // block structure of the matrix does not satisfy the requirements of
60 // the Schur complement solver it will result in unpredictable and
62 class PartitionedMatrixViewBase {
64 virtual ~PartitionedMatrixViewBase() {}
67 virtual void LeftMultiplyE(const double* x, double* y) const = 0;
70 virtual void LeftMultiplyF(const double* x, double* y) const = 0;
73 virtual void RightMultiplyE(const double* x, double* y) const = 0;
76 virtual void RightMultiplyF(const double* x, double* y) const = 0;
78 // Create and return the block diagonal of the matrix E'E.
79 virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const = 0;
81 // Create and return the block diagonal of the matrix F'F. Caller
83 virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const = 0;
85 // Compute the block diagonal of the matrix E'E and store it in
86 // block_diagonal. The matrix block_diagonal is expected to have a
87 // BlockStructure (preferably created using
88 // CreateBlockDiagonalMatrixEtE) which is has the same structure as
89 // the block diagonal of E'E.
90 virtual void UpdateBlockDiagonalEtE(
91 BlockSparseMatrix* block_diagonal) const = 0;
93 // Compute the block diagonal of the matrix F'F and store it in
94 // block_diagonal. The matrix block_diagonal is expected to have a
95 // BlockStructure (preferably created using
96 // CreateBlockDiagonalMatrixFtF) which is has the same structure as
97 // the block diagonal of F'F.
98 virtual void UpdateBlockDiagonalFtF(
99 BlockSparseMatrix* block_diagonal) const = 0;
101 virtual int num_col_blocks_e() const = 0;
102 virtual int num_col_blocks_f() const = 0;
103 virtual int num_cols_e() const = 0;
104 virtual int num_cols_f() const = 0;
105 virtual int num_rows() const = 0;
106 virtual int num_cols() const = 0;
108 static PartitionedMatrixViewBase* Create(const LinearSolver::Options& options,
109 const BlockSparseMatrix& matrix);
112 template <int kRowBlockSize = Eigen::Dynamic,
113 int kEBlockSize = Eigen::Dynamic,
114 int kFBlockSize = Eigen::Dynamic >
115 class PartitionedMatrixView : public PartitionedMatrixViewBase {
117 // matrix = [E F], where the matrix E contains the first
118 // num_col_blocks_a column blocks.
119 PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e);
121 virtual ~PartitionedMatrixView();
122 virtual void LeftMultiplyE(const double* x, double* y) const;
123 virtual void LeftMultiplyF(const double* x, double* y) const;
124 virtual void RightMultiplyE(const double* x, double* y) const;
125 virtual void RightMultiplyF(const double* x, double* y) const;
126 virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const;
127 virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const;
128 virtual void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
129 virtual void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
130 virtual int num_col_blocks_e() const { return num_col_blocks_e_; }
131 virtual int num_col_blocks_f() const { return num_col_blocks_f_; }
132 virtual int num_cols_e() const { return num_cols_e_; }
133 virtual int num_cols_f() const { return num_cols_f_; }
134 virtual int num_rows() const { return matrix_.num_rows(); }
135 virtual int num_cols() const { return matrix_.num_cols(); }
138 BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
139 int end_col_block) const;
141 const BlockSparseMatrix& matrix_;
142 int num_row_blocks_e_;
143 int num_col_blocks_e_;
144 int num_col_blocks_f_;
149 } // namespace internal
152 #endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_