85 lines
3.5 KiB
C
85 lines
3.5 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: kushalav@google.com (Avanish Kushal)
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// sameeragarwal@google.com (Sameer Agarwal)
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//
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// Functions to manipulate visibility information from the block
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// structure of sparse matrices.
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#ifndef CERES_INTERNAL_VISIBILITY_H_
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#define CERES_INTERNAL_VISIBILITY_H_
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// This include must come before any #ifndef check on Ceres compile options.
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#include "ceres/internal/port.h"
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#ifndef CERES_NO_SUITESPARSE
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#include <set>
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#include <vector>
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#include "ceres/graph.h"
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namespace ceres {
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namespace internal {
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struct CompressedRowBlockStructure;
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// Given a compressed row block structure, computes the set of
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// e_blocks "visible" to each f_block. If an e_block co-occurs with an
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// f_block in a residual block, it is visible to the f_block. The
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// first num_eliminate_blocks columns blocks are e_blocks and the rest
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// f_blocks.
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//
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// In a structure from motion problem, e_blocks correspond to 3D
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// points and f_blocks correspond to cameras.
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void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
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int num_eliminate_blocks,
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std::vector<std::set<int> >* visibility);
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// Given f_block visibility as computed by the ComputeVisibility
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// function above, construct and return a graph whose vertices are
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// f_blocks and an edge connects two vertices if they have atleast one
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// e_block in common. The weight of this edge is normalized dot
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// product between the visibility vectors of the two
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// vertices/f_blocks.
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//
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// This graph reflects the sparsity structure of reduced camera
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// matrix/Schur complement matrix obtained by eliminating the e_blocks
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// from the normal equations.
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//
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// Caller acquires ownership of the returned WeightedGraph pointer
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// (heap-allocated).
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WeightedGraph<int>* CreateSchurComplementGraph(
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const std::vector<std::set<int> >& visibility);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_NO_SUITESPARSE
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#endif // CERES_INTERNAL_VISIBILITY_H_
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