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Diffstat (limited to 'internal/ceres/block_random_access_sparse_matrix.h')
-rw-r--r-- | internal/ceres/block_random_access_sparse_matrix.h | 111 |
1 files changed, 111 insertions, 0 deletions
diff --git a/internal/ceres/block_random_access_sparse_matrix.h b/internal/ceres/block_random_access_sparse_matrix.h new file mode 100644 index 0000000..48a0043 --- /dev/null +++ b/internal/ceres/block_random_access_sparse_matrix.h @@ -0,0 +1,111 @@ +// 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(); + virtual bool IsThreadSafe() const { return true; } + + // 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_ |