89 lines
3.4 KiB
C++
89 lines
3.4 KiB
C++
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/block_random_access_dense_matrix.h"
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#include <vector>
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "glog/logging.h"
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namespace ceres {
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namespace internal {
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BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
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const std::vector<int>& blocks) {
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const int num_blocks = blocks.size();
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block_layout_.resize(num_blocks, 0);
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num_rows_ = 0;
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for (int i = 0; i < num_blocks; ++i) {
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block_layout_[i] = num_rows_;
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num_rows_ += blocks[i];
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}
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values_.reset(new double[num_rows_ * num_rows_]);
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cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
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for (int i = 0; i < num_blocks * num_blocks; ++i) {
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cell_infos_[i].values = values_.get();
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}
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SetZero();
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}
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// Assume that the user does not hold any locks on any cell blocks
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// when they are calling SetZero.
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BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
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}
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CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
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const int col_block_id,
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int* row,
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int* col,
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int* row_stride,
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int* col_stride) {
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*row = block_layout_[row_block_id];
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*col = block_layout_[col_block_id];
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*row_stride = num_rows_;
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*col_stride = num_rows_;
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return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
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}
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// Assume that the user does not hold any locks on any cell blocks
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// when they are calling SetZero.
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void BlockRandomAccessDenseMatrix::SetZero() {
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if (num_rows_) {
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VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
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}
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}
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} // namespace internal
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} // namespace ceres
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