94 lines
3.3 KiB
C
94 lines
3.3 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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//
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// Block structure objects are used to carry information about the
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// dense block structure of sparse matrices. The BlockSparseMatrix
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// object uses the BlockStructure objects to keep track of the matrix
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// structure and operate upon it. This allows us to use more cache
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// friendly block oriented linear algebra operations on the matrix
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// instead of accessing it one scalar entry at a time.
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#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
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#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
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#include <vector>
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#include "ceres/internal/port.h"
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#include "ceres/types.h"
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namespace ceres {
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namespace internal {
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typedef int32 BlockSize;
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struct Block {
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Block() : size(-1), position(-1) {}
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Block(int size_, int position_) : size(size_), position(position_) {}
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BlockSize size;
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int position; // Position along the row/column.
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};
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struct Cell {
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Cell() : block_id(-1), position(-1) {}
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Cell(int block_id_, int position_)
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: block_id(block_id_), position(position_) {}
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// Column or row block id as the case maybe.
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int block_id;
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// Where in the values array of the jacobian is this cell located.
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int position;
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};
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// Order cell by their block_id;
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bool CellLessThan(const Cell& lhs, const Cell& rhs);
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struct CompressedList {
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Block block;
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std::vector<Cell> cells;
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};
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typedef CompressedList CompressedRow;
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typedef CompressedList CompressedColumn;
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struct CompressedRowBlockStructure {
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std::vector<Block> cols;
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std::vector<CompressedRow> rows;
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};
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struct CompressedColumnBlockStructure {
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std::vector<Block> rows;
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std::vector<CompressedColumn> cols;
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};
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_
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