1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
|
// 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)
#include "ceres/block_random_access_dense_matrix.h"
#include <vector>
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "glog/logging.h"
namespace ceres {
namespace internal {
BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
const vector<int>& blocks) {
block_layout_.resize(blocks.size(), 0);
num_rows_ = 0;
for (int i = 0; i < blocks.size(); ++i) {
block_layout_[i] = num_rows_;
num_rows_ += blocks[i];
}
values_.reset(new double[num_rows_ * num_rows_]);
CHECK_NOTNULL(values_.get());
cell_info_.values = values_.get();
SetZero();
}
// Assume that the user does not hold any locks on any cell blocks
// when they are calling SetZero.
BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
}
CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
const int col_block_id,
int* row,
int* col,
int* row_stride,
int* col_stride) {
*row = block_layout_[row_block_id];
*col = block_layout_[col_block_id];
*row_stride = num_rows_;
*col_stride = num_rows_;
return &cell_info_;
}
// Assume that the user does not hold any locks on any cell blocks
// when they are calling SetZero.
void BlockRandomAccessDenseMatrix::SetZero() {
if (num_rows_) {
VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
}
}
} // namespace internal
} // namespace ceres
|
