mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
111 lines
4.4 KiB
C++
111 lines
4.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
|
|
// http://code.google.com/p/ceres-solver/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
|
|
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
|
|
|
|
#include <set>
|
|
#include <vector>
|
|
#include <utility>
|
|
#include "ceres/mutex.h"
|
|
#include "ceres/block_random_access_matrix.h"
|
|
#include "ceres/collections_port.h"
|
|
#include "ceres/triplet_sparse_matrix.h"
|
|
#include "ceres/integral_types.h"
|
|
#include "ceres/internal/macros.h"
|
|
#include "ceres/internal/port.h"
|
|
#include "ceres/internal/scoped_ptr.h"
|
|
#include "ceres/types.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
// A threaf safe square block sparse implementation of
|
|
// BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
|
|
// for doing the actual storage. This class augments this matrix with
|
|
// an unordered_map that allows random read/write access.
|
|
class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix {
|
|
public:
|
|
// blocks is an array of block sizes. block_pairs is a set of
|
|
// <row_block_id, col_block_id> pairs to identify the non-zero cells
|
|
// of this matrix.
|
|
BlockRandomAccessSparseMatrix(const vector<int>& blocks,
|
|
const set<pair<int, int> >& block_pairs);
|
|
|
|
// The destructor is not thread safe. It assumes that no one is
|
|
// modifying any cells when the matrix is being destroyed.
|
|
virtual ~BlockRandomAccessSparseMatrix();
|
|
|
|
// BlockRandomAccessMatrix Interface.
|
|
virtual CellInfo* GetCell(int row_block_id,
|
|
int col_block_id,
|
|
int* row,
|
|
int* col,
|
|
int* row_stride,
|
|
int* col_stride);
|
|
|
|
// This is not a thread safe method, it assumes that no cell is
|
|
// locked.
|
|
virtual void SetZero();
|
|
|
|
// Since the matrix is square, num_rows() == num_cols().
|
|
virtual int num_rows() const { return tsm_->num_rows(); }
|
|
virtual int num_cols() const { return tsm_->num_cols(); }
|
|
|
|
// Access to the underlying matrix object.
|
|
const TripletSparseMatrix* matrix() const { return tsm_.get(); }
|
|
TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
|
|
|
|
private:
|
|
int64 IntPairToLong(int a, int b) {
|
|
return a * kMaxRowBlocks + b;
|
|
}
|
|
|
|
const int64 kMaxRowBlocks;
|
|
// row/column block sizes.
|
|
const vector<int> blocks_;
|
|
|
|
// A mapping from <row_block_id, col_block_id> to the position in
|
|
// the values array of tsm_ where the block is stored.
|
|
typedef HashMap<long int, CellInfo* > LayoutType;
|
|
LayoutType layout_;
|
|
|
|
// The underlying matrix object which actually stores the cells.
|
|
scoped_ptr<TripletSparseMatrix> tsm_;
|
|
|
|
friend class BlockRandomAccessSparseMatrixTest;
|
|
CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix);
|
|
};
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
|