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Diffstat (limited to 'extern/ceres/internal/ceres/visibility.h')
| -rw-r--r-- | extern/ceres/internal/ceres/visibility.h | 78 |
1 files changed, 78 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/visibility.h b/extern/ceres/internal/ceres/visibility.h new file mode 100644 index 00000000000..115d45f7cf6 --- /dev/null +++ b/extern/ceres/internal/ceres/visibility.h @@ -0,0 +1,78 @@ +// 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 +// 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: kushalav@google.com (Avanish Kushal) +// sameeragarwal@google.com (Sameer Agarwal) +// +// Functions to manipulate visibility information from the block +// structure of sparse matrices. + +#ifndef CERES_INTERNAL_VISIBILITY_H_ +#define CERES_INTERNAL_VISIBILITY_H_ + +#include <set> +#include <vector> +#include "ceres/graph.h" + +namespace ceres { +namespace internal { + +struct CompressedRowBlockStructure; + +// Given a compressed row block structure, computes the set of +// e_blocks "visible" to each f_block. If an e_block co-occurs with an +// f_block in a residual block, it is visible to the f_block. The +// first num_eliminate_blocks columns blocks are e_blocks and the rest +// f_blocks. +// +// In a structure from motion problem, e_blocks correspond to 3D +// points and f_blocks correspond to cameras. +void ComputeVisibility(const CompressedRowBlockStructure& block_structure, + int num_eliminate_blocks, + std::vector<std::set<int>>* visibility); + +// Given f_block visibility as computed by the ComputeVisibility +// function above, construct and return a graph whose vertices are +// f_blocks and an edge connects two vertices if they have at least one +// e_block in common. The weight of this edge is normalized dot +// product between the visibility vectors of the two +// vertices/f_blocks. +// +// This graph reflects the sparsity structure of reduced camera +// matrix/Schur complement matrix obtained by eliminating the e_blocks +// from the normal equations. +// +// Caller acquires ownership of the returned WeightedGraph pointer +// (heap-allocated). +WeightedGraph<int>* CreateSchurComplementGraph( + const std::vector<std::set<int>>& visibility); + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_VISIBILITY_H_ |