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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2013 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_CRS_MATRIX_H_
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_CRS_MATRIX_H_
#include <set>
#include <vector>
#include <utility>
#include "ceres/mutex.h"
#include "ceres/block_random_access_matrix.h"
#include "ceres/compressed_row_sparse_matrix.h"
#include "ceres/collections_port.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 square BlockRandomAccessMatrix where the underlying storage is a
// compressed row sparse matrix. The matrix need not be symmetric.
class BlockRandomAccessCRSMatrix : 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.
BlockRandomAccessCRSMatrix(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 ~BlockRandomAccessCRSMatrix();
// 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 crsm_->num_rows(); }
virtual int num_cols() const { return crsm_->num_cols(); }
// Access to the underlying matrix object.
const CompressedRowSparseMatrix* matrix() const { return crsm_.get(); }
CompressedRowSparseMatrix* mutable_matrix() { return crsm_.get(); }
private:
int64 IntPairToLong(int a, int b) {
return a * kMaxRowBlocks + b;
}
const int64 kMaxRowBlocks;
// row/column block sizes.
const vector<int> blocks_;
vector<int> col_layout_;
vector<int> row_strides_;
// 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_;
scoped_ptr<CompressedRowSparseMatrix> crsm_;
friend class BlockRandomAccessCRSMatrixTest;
CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessCRSMatrix);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_CRS_MATRIX_H_
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