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https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
78d49f4682
Most matrices in Ceres are row-major. Eigen does now allow statically sized row-major matrices with a single column. This CL changes the EigenTypes struct to change the definition of typedefs to change to ColMajor if this is the case. This will allow Schur specializations (2,1,6) for example. Change-Id: I24e7b62d4e1cb5660541062336225bbc9c41c6bf
81 lines
3.3 KiB
C++
81 lines
3.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 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: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_EIGEN_H_
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#define CERES_INTERNAL_EIGEN_H_
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#include "Eigen/Core"
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namespace ceres {
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typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector;
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typedef Eigen::Matrix<double,
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Eigen::Dynamic,
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Eigen::Dynamic,
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Eigen::RowMajor> Matrix;
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typedef Eigen::Map<Vector> VectorRef;
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typedef Eigen::Map<Matrix> MatrixRef;
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typedef Eigen::Map<const Vector> ConstVectorRef;
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typedef Eigen::Map<const Matrix> ConstMatrixRef;
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// Column major matrices for DenseSparseMatrix/DenseQRSolver
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typedef Eigen::Matrix<double,
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Eigen::Dynamic,
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Eigen::Dynamic,
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Eigen::ColMajor> ColMajorMatrix;
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typedef Eigen::Map<ColMajorMatrix, 0,
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Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
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typedef Eigen::Map<const ColMajorMatrix,
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0,
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Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
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// C++ does not support templated typdefs, thus the need for this
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// struct so that we can support statically sized Matrix and Maps.
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template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
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struct EigenTypes {
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typedef Eigen::Matrix<double,
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num_rows,
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num_cols,
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num_cols == 1 ? Eigen::ColMajor : Eigen::RowMajor>
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Matrix;
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typedef Eigen::Map<Matrix> MatrixRef;
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typedef Eigen::Map<const Matrix> ConstMatrixRef;
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typedef Eigen::Matrix<double, num_rows, 1> Vector;
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typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1> > VectorRef;
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typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1> > ConstVectorRef;
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};
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} // namespace ceres
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#endif // CERES_INTERNAL_EIGEN_H_
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