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
104 lines
3.9 KiB
C++
104 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_DIAGONAL_MATRIX_H_
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#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
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#include <memory>
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#include <set>
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#include <utility>
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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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#include "ceres/triplet_sparse_matrix.h"
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#include "ceres/types.h"
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namespace ceres::internal {
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// A thread safe block diagonal matrix implementation of
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// BlockRandomAccessMatrix.
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class CERES_NO_EXPORT BlockRandomAccessDiagonalMatrix
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: public BlockRandomAccessMatrix {
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public:
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// blocks is an array of block sizes.
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explicit BlockRandomAccessDiagonalMatrix(std::vector<Block> blocks);
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BlockRandomAccessDiagonalMatrix(const BlockRandomAccessDiagonalMatrix&) =
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delete;
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void operator=(const BlockRandomAccessDiagonalMatrix&) = 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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~BlockRandomAccessDiagonalMatrix() 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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// Invert the matrix assuming that each block is positive definite.
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void Invert();
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// y += S * x
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void RightMultiplyAndAccumulate(const double* x, double* y) const;
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// Since the matrix is square, num_rows() == num_cols().
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int num_rows() const final { return tsm_->num_rows(); }
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int num_cols() const final { return tsm_->num_cols(); }
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const TripletSparseMatrix* matrix() const { return tsm_.get(); }
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TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
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private:
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// row/column block sizes.
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const std::vector<Block> blocks_;
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std::vector<CellInfo*> layout_;
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// The underlying matrix object which actually stores the cells.
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std::unique_ptr<TripletSparseMatrix> tsm_;
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friend class BlockRandomAccessDiagonalMatrixTest;
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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_DIAGONAL_MATRIX_H_
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