10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/block_random_access_dense_matrix.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "glog/logging.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace internal { 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongBlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix( 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const vector<int>& blocks) { 431d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const int num_blocks = blocks.size(); 441d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling block_layout_.resize(num_blocks, 0); 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_rows_ = 0; 461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling for (int i = 0; i < num_blocks; ++i) { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong block_layout_[i] = num_rows_; 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_rows_ += blocks[i]; 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong values_.reset(new double[num_rows_ * num_rows_]); 521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 531d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cell_infos_.reset(new CellInfo[num_blocks * num_blocks]); 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling for (int i = 0; i < num_blocks * num_blocks; ++i) { 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling cell_infos_[i].values = values_.get(); 561d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 571d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SetZero(); 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Assume that the user does not hold any locks on any cell blocks 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// when they are calling SetZero. 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongBlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() { 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongCellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id, 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const int col_block_id, 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* row, 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* col, 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* row_stride, 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* col_stride) { 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row = block_layout_[row_block_id]; 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *col = block_layout_[col_block_id]; 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *row_stride = num_rows_; 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong *col_stride = num_rows_; 761d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling return &cell_infos_[row_block_id * block_layout_.size() + col_block_id]; 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Assume that the user does not hold any locks on any cell blocks 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// when they are calling SetZero. 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongvoid BlockRandomAccessDenseMatrix::SetZero() { 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (num_rows_) { 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef(values_.get(), num_rows_ * num_rows_).setZero(); 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace internal 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 89