mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sameer Agarwal
0a53aa9054
1. Add abseil-cpp as a submodule. We are tracking the latest LTS release, which is lts_2024_01_16. 2. Replace glog/gflags with absl::log and absl::flags. 3. Remove miniglog 4. Also take a whack at making the bazel build work with abseil-cpp and gtest. There are a number of TODOs in this CL that still need to be resolved. Change-Id: I39355ed7d61375be4ebcbc8596d9cc70acc1c678
75 lines
3.2 KiB
C++
75 lines
3.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2023 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// 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)
|
|
|
|
#include "ceres/block_random_access_dense_matrix.h"
|
|
|
|
#include <utility>
|
|
#include <vector>
|
|
|
|
#include "ceres/internal/eigen.h"
|
|
#include "ceres/parallel_vector_ops.h"
|
|
|
|
namespace ceres::internal {
|
|
|
|
BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
|
|
std::vector<Block> blocks, ContextImpl* context, int num_threads)
|
|
: blocks_(std::move(blocks)), context_(context), num_threads_(num_threads) {
|
|
const int num_blocks = blocks_.size();
|
|
num_rows_ = NumScalarEntries(blocks_);
|
|
values_ = std::make_unique<double[]>(num_rows_ * num_rows_);
|
|
cell_infos_ = std::make_unique<CellInfo[]>(num_blocks * num_blocks);
|
|
for (int i = 0; i < num_blocks * num_blocks; ++i) {
|
|
cell_infos_[i].values = values_.get();
|
|
}
|
|
|
|
SetZero();
|
|
}
|
|
|
|
CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
|
|
const int col_block_id,
|
|
int* row,
|
|
int* col,
|
|
int* row_stride,
|
|
int* col_stride) {
|
|
*row = blocks_[row_block_id].position;
|
|
*col = blocks_[col_block_id].position;
|
|
*row_stride = num_rows_;
|
|
*col_stride = num_rows_;
|
|
return &cell_infos_[row_block_id * blocks_.size() + col_block_id];
|
|
}
|
|
|
|
// Assume that the user does not hold any locks on any cell blocks
|
|
// when they are calling SetZero.
|
|
void BlockRandomAccessDenseMatrix::SetZero() {
|
|
ParallelSetZero(context_, num_threads_, values_.get(), num_rows_ * num_rows_);
|
|
}
|
|
|
|
} // namespace ceres::internal
|