mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
93 lines
3.9 KiB
C++
93 lines
3.9 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/block_structure.h"
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#include "ceres/matrix_proto.h"
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namespace ceres {
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namespace internal {
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bool CellLessThan(const Cell& lhs, const Cell& rhs) {
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return (lhs.block_id < rhs.block_id);
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}
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#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
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void ProtoToBlockStructure(const BlockStructureProto &proto,
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CompressedRowBlockStructure *block_structure) {
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// Decode the column blocks.
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block_structure->cols.resize(proto.cols_size());
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for (int i = 0; i < proto.cols_size(); ++i) {
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block_structure->cols[i].size = proto.cols(i).size();
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block_structure->cols[i].position =
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proto.cols(i).position();
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}
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// Decode the row structure.
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block_structure->rows.resize(proto.rows_size());
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for (int i = 0; i < proto.rows_size(); ++i) {
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const CompressedRowProto &row = proto.rows(i);
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block_structure->rows[i].block.size = row.block().size();
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block_structure->rows[i].block.position = row.block().position();
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// Copy the cells within the row.
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block_structure->rows[i].cells.resize(row.cells_size());
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for (int j = 0; j < row.cells_size(); ++j) {
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const CellProto &cell = row.cells(j);
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block_structure->rows[i].cells[j].block_id = cell.block_id();
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block_structure->rows[i].cells[j].position = cell.position();
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}
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}
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}
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void BlockStructureToProto(const CompressedRowBlockStructure &block_structure,
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BlockStructureProto *proto) {
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// Encode the column blocks.
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for (int i = 0; i < block_structure.cols.size(); ++i) {
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BlockProto *block = proto->add_cols();
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block->set_size(block_structure.cols[i].size);
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block->set_position(block_structure.cols[i].position);
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}
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// Encode the row structure.
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for (int i = 0; i < block_structure.rows.size(); ++i) {
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CompressedRowProto *row = proto->add_rows();
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BlockProto *block = row->mutable_block();
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block->set_size(block_structure.rows[i].block.size);
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block->set_position(block_structure.rows[i].block.position);
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for (int j = 0; j < block_structure.rows[i].cells.size(); ++j) {
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CellProto *cell = row->add_cells();
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cell->set_block_id(block_structure.rows[i].cells[j].block_id);
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cell->set_position(block_structure.rows[i].cells[j].position);
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}
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}
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}
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#endif
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} // namespace internal
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} // namespace ceres
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