mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
5a30cae583
1. Add a version history 2. Update copyright years across the code base 3. Run format_all.sh 4. Update version strings from 2.1.0 to 2.2.0 in the docs and elsewhere. Change-Id: I46d8d479d54bd6002d532785e67342106e73c9ac
99 lines
3.8 KiB
C++
99 lines
3.8 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2023 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/context_impl.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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ContextImpl* context,
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int num_threads);
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~BlockRandomAccessDenseMatrix() override = default;
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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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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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std::vector<Block> blocks_;
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ContextImpl* context_ = nullptr;
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int num_threads_ = -1;
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int num_rows_ = -1;
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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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