Angus Kong | 0ae28bd | 2013-02-13 14:56:04 -0800 | [diff] [blame^] | 1 | // Ceres Solver - A fast non-linear least squares minimizer |
| 2 | // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. |
| 3 | // http://code.google.com/p/ceres-solver/ |
| 4 | // |
| 5 | // Redistribution and use in source and binary forms, with or without |
| 6 | // modification, are permitted provided that the following conditions are met: |
| 7 | // |
| 8 | // * Redistributions of source code must retain the above copyright notice, |
| 9 | // this list of conditions and the following disclaimer. |
| 10 | // * Redistributions in binary form must reproduce the above copyright notice, |
| 11 | // this list of conditions and the following disclaimer in the documentation |
| 12 | // and/or other materials provided with the distribution. |
| 13 | // * Neither the name of Google Inc. nor the names of its contributors may be |
| 14 | // used to endorse or promote products derived from this software without |
| 15 | // specific prior written permission. |
| 16 | // |
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 18 | // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 19 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| 20 | // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| 21 | // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| 22 | // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| 23 | // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| 24 | // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 25 | // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 26 | // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 27 | // POSSIBILITY OF SUCH DAMAGE. |
| 28 | // |
| 29 | // Author: sameeragarwal@google.com (Sameer Agarwal) |
| 30 | |
| 31 | #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |
| 32 | #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |
| 33 | |
| 34 | #include "ceres/block_random_access_matrix.h" |
| 35 | |
| 36 | #include <vector> |
| 37 | |
| 38 | #include "ceres/internal/macros.h" |
| 39 | #include "ceres/internal/port.h" |
| 40 | #include "ceres/internal/scoped_ptr.h" |
| 41 | |
| 42 | namespace ceres { |
| 43 | namespace internal { |
| 44 | |
| 45 | // A square block random accessible matrix with the same row and |
| 46 | // column block structure. All cells are stored in the same single |
| 47 | // array, so that its also accessible as a dense matrix of size |
| 48 | // num_rows x num_cols. |
| 49 | // |
| 50 | // This class is NOT thread safe. Since all n^2 cells are stored, |
| 51 | // GetCell never returns NULL for any (row_block_id, col_block_id) |
| 52 | // pair. |
| 53 | // |
| 54 | // ReturnCell is a nop. |
| 55 | class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix { |
| 56 | public: |
| 57 | // blocks is a vector of block sizes. The resulting matrix has |
| 58 | // blocks.size() * blocks.size() cells. |
| 59 | explicit BlockRandomAccessDenseMatrix(const vector<int>& blocks); |
| 60 | |
| 61 | // The destructor is not thread safe. It assumes that no one is |
| 62 | // modifying any cells when the matrix is being destroyed. |
| 63 | virtual ~BlockRandomAccessDenseMatrix(); |
| 64 | |
| 65 | // BlockRandomAccessMatrix interface. |
| 66 | virtual CellInfo* GetCell(int row_block_id, |
| 67 | int col_block_id, |
| 68 | int* row, |
| 69 | int* col, |
| 70 | int* row_stride, |
| 71 | int* col_stride); |
| 72 | |
| 73 | // This is not a thread safe method, it assumes that no cell is |
| 74 | // locked. |
| 75 | virtual void SetZero(); |
| 76 | |
| 77 | // Since the matrix is square with the same row and column block |
| 78 | // structure, num_rows() = num_cols(). |
| 79 | virtual int num_rows() const { return num_rows_; } |
| 80 | virtual int num_cols() const { return num_rows_; } |
| 81 | |
| 82 | // The underlying matrix storing the cells. |
| 83 | const double* values() const { return values_.get(); } |
| 84 | double* mutable_values() { return values_.get(); } |
| 85 | |
| 86 | private: |
| 87 | CellInfo cell_info_; |
| 88 | int num_rows_; |
| 89 | vector<int> block_layout_; |
| 90 | scoped_array<double> values_; |
| 91 | |
| 92 | CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix); |
| 93 | }; |
| 94 | |
| 95 | } // namespace internal |
| 96 | } // namespace ceres |
| 97 | |
| 98 | #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |