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
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
|
// 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)
//
// For generalized bi-partite Jacobian matrices that arise in
// Structure from Motion related problems, it is sometimes useful to
// have access to the two parts of the matrix as linear operators
// themselves. This class provides that functionality.
#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
#include "ceres/block_sparse_matrix.h"
namespace ceres {
namespace internal {
// Given generalized bi-partite matrix A = [E F], with the same block
// structure as required by the Schur complement based solver, found
// in explicit_schur_complement_solver.h, provide access to the
// matrices E and F and their outer products E'E and F'F with
// themselves.
//
// Lack of BlockStructure object will result in a crash and if the
// block structure of the matrix does not satisfy the requirements of
// the Schur complement solver it will result in unpredictable and
// wrong output.
//
// This class lives in the internal name space as its a utility class
// to be used by the IterativeSchurComplementSolver class, found in
// iterative_schur_complement_solver.h, and is not meant for general
// consumption.
class PartitionedMatrixView {
public:
// matrix = [E F], where the matrix E contains the first
// num_col_blocks_a column blocks.
PartitionedMatrixView(const BlockSparseMatrix& matrix,
int num_col_blocks_a);
~PartitionedMatrixView();
// y += E'x
void LeftMultiplyE(const double* x, double* y) const;
// y += F'x
void LeftMultiplyF(const double* x, double* y) const;
// y += Ex
void RightMultiplyE(const double* x, double* y) const;
// y += Fx
void RightMultiplyF(const double* x, double* y) const;
// Create and return the block diagonal of the matrix E'E.
BlockSparseMatrix* CreateBlockDiagonalEtE() const;
// Create and return the block diagonal of the matrix F'F.
BlockSparseMatrix* CreateBlockDiagonalFtF() const;
// Compute the block diagonal of the matrix E'E and store it in
// block_diagonal. The matrix block_diagonal is expected to have a
// BlockStructure (preferably created using
// CreateBlockDiagonalMatrixEtE) which is has the same structure as
// the block diagonal of E'E.
void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
// Compute the block diagonal of the matrix F'F and store it in
// block_diagonal. The matrix block_diagonal is expected to have a
// BlockStructure (preferably created using
// CreateBlockDiagonalMatrixFtF) which is has the same structure as
// the block diagonal of F'F.
void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
int num_col_blocks_e() const { return num_col_blocks_e_; }
int num_col_blocks_f() const { return num_col_blocks_f_; }
int num_cols_e() const { return num_cols_e_; }
int num_cols_f() const { return num_cols_f_; }
int num_rows() const { return matrix_.num_rows(); }
int num_cols() const { return matrix_.num_cols(); }
private:
BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
int end_col_block) const;
const BlockSparseMatrix& matrix_;
int num_row_blocks_e_;
int num_col_blocks_e_;
int num_col_blocks_f_;
int num_cols_e_;
int num_cols_f_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
|
