mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
f86a3bdbea
Previously some matrices used Block to keep track of row/column block sizes and some would just use ints, and then compute the position of each row and column from it. By uniformly using Block everywhere, we reduce duplicate computation and data copies. I also cleaned up a bunch of c++17 related stuff as I edited these files. Change-Id: I4c86b1593fd4c91f9057fbb38314f62f303e0477
100 lines
3.9 KiB
C++
100 lines
3.9 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_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
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#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
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#include <memory>
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#include <vector>
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#include "ceres/block_random_access_matrix.h"
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#include "ceres/block_structure.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.h"
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namespace ceres::internal {
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// A square block random accessible matrix with the same row and
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// column block structure. All cells are stored in the same single
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// array, so that its also accessible as a dense matrix of size
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// num_rows x num_cols.
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//
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// This class is NOT thread safe. Since all n^2 cells are stored,
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// GetCell never returns nullptr for any (row_block_id, col_block_id)
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// pair.
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//
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// ReturnCell is a nop.
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class CERES_NO_EXPORT BlockRandomAccessDenseMatrix
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: public BlockRandomAccessMatrix {
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public:
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// blocks is a vector of block sizes. The resulting matrix has
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// blocks.size() * blocks.size() cells.
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explicit BlockRandomAccessDenseMatrix(std::vector<Block> blocks);
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BlockRandomAccessDenseMatrix(const BlockRandomAccessDenseMatrix&) = delete;
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void operator=(const BlockRandomAccessDenseMatrix&) = delete;
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// The destructor is not thread safe. It assumes that no one is
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// modifying any cells when the matrix is being destroyed.
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~BlockRandomAccessDenseMatrix() override;
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// BlockRandomAccessMatrix interface.
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CellInfo* GetCell(int row_block_id,
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int col_block_id,
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int* row,
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int* col,
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int* row_stride,
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int* col_stride) final;
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// This is not a thread safe method, it assumes that no cell is
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// locked.
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void SetZero() final;
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// Since the matrix is square with the same row and column block
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// structure, num_rows() = num_cols().
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int num_rows() const final { return num_rows_; }
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int num_cols() const final { return num_rows_; }
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// The underlying matrix storing the cells.
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const double* values() const { return values_.get(); }
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double* mutable_values() { return values_.get(); }
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private:
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int num_rows_;
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std::vector<Block> blocks_;
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std::unique_ptr<double[]> values_;
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std::unique_ptr<CellInfo[]> cell_infos_;
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};
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_
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