MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/block_random_access_diagonal_matrix.h
2019-01-03 16:25:18 +08:00

102 lines
3.9 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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
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// 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)
#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_
#include <set>
#include <vector>
#include <utility>
#include "ceres/mutex.h"
#include "ceres/block_random_access_matrix.h"
#include "ceres/collections_port.h"
#include "ceres/triplet_sparse_matrix.h"
#include "ceres/integral_types.h"
#include "ceres/internal/macros.h"
#include "ceres/internal/port.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
// A thread safe block diagonal matrix implementation of
// BlockRandomAccessMatrix.
class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix {
public:
// blocks is an array of block sizes.
explicit BlockRandomAccessDiagonalMatrix(const std::vector<int>& blocks);
// The destructor is not thread safe. It assumes that no one is
// modifying any cells when the matrix is being destroyed.
virtual ~BlockRandomAccessDiagonalMatrix();
// BlockRandomAccessMatrix Interface.
virtual CellInfo* GetCell(int row_block_id,
int col_block_id,
int* row,
int* col,
int* row_stride,
int* col_stride);
// This is not a thread safe method, it assumes that no cell is
// locked.
virtual void SetZero();
// Invert the matrix assuming that each block is positive definite.
void Invert();
// y += S * x
void RightMultiply(const double* x, double* y) const;
// Since the matrix is square, num_rows() == num_cols().
virtual int num_rows() const { return tsm_->num_rows(); }
virtual int num_cols() const { return tsm_->num_cols(); }
const TripletSparseMatrix* matrix() const { return tsm_.get(); }
TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
private:
// row/column block sizes.
const std::vector<int> blocks_;
std::vector<CellInfo*> layout_;
// The underlying matrix object which actually stores the cells.
scoped_ptr<TripletSparseMatrix> tsm_;
friend class BlockRandomAccessDiagonalMatrixTest;
CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDiagonalMatrix);
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_