鉴于中文资料中Eigen资料鱼目混珠,纷乱庞杂。现参考Eigen官网,整理常用Eigen矩阵操作。
基于版本:/usr/include/eigen3/Eigen/src/Core/util/Macros.h显示的3.2.92
Eigen有2中矩阵结构:Dense和Sparse。Dense矩阵存储读写为正常处理,Sparse由于其特殊的存储格式和操作,处理不一样。以下介绍Dense矩阵的块操作处理。
1. 矩阵块操作
1.1 定义
Eigen中的矩阵块操作使用 .block() 指令,有2中版本:
意义 | 动态size (dynamic-size) | 固定size (fixed-size block) |
---|---|---|
从 (i,j) 开始,大小为 (p,q) 矩阵块 | matrix.block(i,j,p,q); | matrix.block<p,q>(i,j); |
适用于固定尺寸、动态尺寸、array取值,其中固定尺寸读取稍快些。
1.2 栗子
Eg1:
#include <Eigen/Dense>
#include <iostream>
using namespace std;
int main()
{
Eigen::MatrixXf m(4,4);
m << 1, 2, 3, 4,
5, 6, 7, 8,
9,10,11,12,
13,14,15,16;
cout << "Block in the middle" << endl;
cout << m.block<2,2>(1,1) << endl << endl;
for (int i = 1; i <= 3; ++i)
{
cout << "Block of size " << i << "x" << i << endl;
cout << m.block(0,0,i,i) << endl << endl;
}
}
Output:
Block in the middle
6 7
10 11
Block of size 1x1
1
Block of size 2x2
1 2
5 6
Block of size 3x3
1 2 3
5 6 7
9 10 11
Eg2: block赋值
#include <Eigen/Dense>
#include <iostream>
using namespace std;
using namespace Eigen;
int main()
{
Array22f m;
m << 1,2,
3,4;
Array44f a = Array44f::Constant(0.6);
cout << "Here is the array a:" << endl << a << endl << endl;
a.block<2,2>(1,1) = m;
cout << "Here is now a with m copied into its central 2x2 block:" << endl << a << endl << endl;
a.block(0,0,2,3) = a.block(2,1,2,3);
cout << "Here is now a with bottom-right 2x3 block copied into top-left 2x2 block:" << endl << a << endl << endl;
}
Output:
Here is the array a:
0.6 0.6 0.6 0.6
0.6 0.6 0.6 0.6
0.6 0.6 0.6 0.6
0.6 0.6 0.6 0.6
Here is now a with m copied into its central 2x2 block:
0.6 0.6 0.6 0.6
0.6 1 2 0.6
0.6 3 4 0.6
0.6 0.6 0.6 0.6
Here is now a with bottom-right 2x3 block copied into top-left 2x2 block:
3 4 0.6 0.6
0.6 0.6 0.6 0.6
0.6 3 4 0.6
0.6 0.6 0.6 0.6
2. 矩阵行列操作
2.1 定义
按行、列读取变化,使用指令 .col() and .row()
2.2 栗子
#include <Eigen/Dense>
#include <iostream>
using namespace std;
int main()
{
Eigen::MatrixXf m(3,3);
m << 1,2,3,
4,5,6,
7,8,9;
cout << "Here is the matrix m:" << endl << m << endl;
cout << "2nd Row: " << m.row(1) << endl;
m.col(2) += 3 * m.col(0);
cout << "After adding 3 times the first column into the third column, the matrix m is:\n";
cout << m << endl;
}
OutPut:
Here is the matrix m:
1 2 3
4 5 6
7 8 9
2nd Row: 4 5 6
After adding 3 times the first column into the third column, the matrix m is:
1 2 6
4 5 18
7 8 30
3. 矩阵Corner操作
3.1 定义
Eigen特别地提供了矩阵的一角,或者是数列的某一端的块操作
意义 | 动态size (dynamic-size) | 固定size (fixed-size block) |
---|---|---|
左上 | matrix.topLeftCorner(p,q); | matrix.topLeftCorner<p,q>(); |
左下 | matrix.bottomLeftCorner(p,q); | matrix.bottomLeftCorner<p,q>(); |
右上 | matrix.topRightCorner(p,q); | matrix.topRightCorner<p,q>(); |
右下 | matrix.bottomRightCorner(p,q); | matrix.bottomRightCorner<p,q>(); |
前q行块 | matrix.topRows(q); | matrix.topRows<q>(); |
后q行块 | matrix.bottomRows(q); | matrix.bottomRows<q>(); |
前p列块 | matrix.leftCols(p); | matrix.leftCols<p>(); |
后q列块 | matrix.rightCols(q); | matrix.rightCols<q>(); |
3.2 栗子
#include <Eigen/Dense>
#include <iostream>
using namespace std;
int main()
{
Eigen::Matrix4f m;
m << 1, 2, 3, 4,
5, 6, 7, 8,
9, 10,11,12,
13,14,15,16;
cout << "m.leftCols(2) =" << endl << m.leftCols(2) << endl << endl;
cout << "m.bottomRows<2>() =" << endl << m.bottomRows<2>() << endl << endl;
m.topLeftCorner(1,3) = m.bottomRightCorner(3,1).transpose();
cout << "After assignment, m = " << endl << m << endl;
}
Output:
m.leftCols(2) =
1 2
5 6
9 10
13 14
m.bottomRows<2>() =
9 10 11 12
13 14 15 16
After assignment, m =
8 12 16 4
5 6 7 8
9 10 11 12
13 14 15 16
4. 矩阵Vector操作
4.1 定义
意义 | 动态size (dynamic-size) | 固定size (fixed-size block) |
---|---|---|
前n元素块 | vector.head(n); | vector.head<n>(); |
后n元素块 | vector.tail(n); | vector.tail<n>(); |
从i位置开始的n元素块 | vector.segment(i,n); | vector.segment<n>(i); |
4.2 栗子
#include <Eigen/Dense>
#include <iostream>
using namespace std;
int main()
{
Eigen::ArrayXf v(6);
v << 1, 2, 3, 4, 5, 6;
cout << "v.head(3) =" << endl << v.head(3) << endl << endl;
cout << "v.tail<3>() = " << endl << v.tail<3>() << endl << endl;
v.segment(1,4) *= 2;
cout << "after 'v.segment(1,4) *= 2', v =" << endl << v << endl;
}
Output
v.head(3) =
1
2
3
v.tail<3>() =
4
5
6
after 'v.segment(1,4) *= 2', v =
1
4
6
8
10
6
Ref:
http://eigen.tuxfamily.org/dox-3.2/group__TutorialBlockOperations.html
http://eigen.tuxfamily.org/dox-3.2/
本文基于版本 Eigen 3.2.10