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Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/partitioned_matrix_view.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/partitioned_matrix_view.h | 152 |
1 files changed, 0 insertions, 152 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/partitioned_matrix_view.h b/extern/libmv/third_party/ceres/internal/ceres/partitioned_matrix_view.h deleted file mode 100644 index 661252d404f..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/partitioned_matrix_view.h +++ /dev/null @@ -1,152 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. -// http://code.google.com/p/ceres-solver/ -// -// 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: sameeragarwal@google.com (Sameer Agarwal) -// -// For generalized bi-partite Jacobian matrices that arise in -// Structure from Motion related problems, it is sometimes useful to -// have access to the two parts of the matrix as linear operators -// themselves. This class provides that functionality. - -#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_ -#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_ - -#include <algorithm> -#include <cstring> -#include <vector> - -#include "ceres/block_structure.h" -#include "ceres/internal/eigen.h" -#include "ceres/linear_solver.h" -#include "ceres/small_blas.h" -#include "glog/logging.h" - -namespace ceres { -namespace internal { - -// Given generalized bi-partite matrix A = [E F], with the same block -// structure as required by the Schur complement based solver, found -// in explicit_schur_complement_solver.h, provide access to the -// matrices E and F and their outer products E'E and F'F with -// themselves. -// -// Lack of BlockStructure object will result in a crash and if the -// block structure of the matrix does not satisfy the requirements of -// the Schur complement solver it will result in unpredictable and -// wrong output. -class PartitionedMatrixViewBase { - public: - virtual ~PartitionedMatrixViewBase() {} - - // y += E'x - virtual void LeftMultiplyE(const double* x, double* y) const = 0; - - // y += F'x - virtual void LeftMultiplyF(const double* x, double* y) const = 0; - - // y += Ex - virtual void RightMultiplyE(const double* x, double* y) const = 0; - - // y += Fx - virtual void RightMultiplyF(const double* x, double* y) const = 0; - - // Create and return the block diagonal of the matrix E'E. - virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const = 0; - - // Create and return the block diagonal of the matrix F'F. Caller - // owns the result. - virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const = 0; - - // Compute the block diagonal of the matrix E'E and store it in - // block_diagonal. The matrix block_diagonal is expected to have a - // BlockStructure (preferably created using - // CreateBlockDiagonalMatrixEtE) which is has the same structure as - // the block diagonal of E'E. - virtual void UpdateBlockDiagonalEtE( - BlockSparseMatrix* block_diagonal) const = 0; - - // Compute the block diagonal of the matrix F'F and store it in - // block_diagonal. The matrix block_diagonal is expected to have a - // BlockStructure (preferably created using - // CreateBlockDiagonalMatrixFtF) which is has the same structure as - // the block diagonal of F'F. - virtual void UpdateBlockDiagonalFtF( - BlockSparseMatrix* block_diagonal) const = 0; - - virtual int num_col_blocks_e() const = 0; - virtual int num_col_blocks_f() const = 0; - virtual int num_cols_e() const = 0; - virtual int num_cols_f() const = 0; - virtual int num_rows() const = 0; - virtual int num_cols() const = 0; - - static PartitionedMatrixViewBase* Create(const LinearSolver::Options& options, - const BlockSparseMatrix& matrix); -}; - -template <int kRowBlockSize = Eigen::Dynamic, - int kEBlockSize = Eigen::Dynamic, - int kFBlockSize = Eigen::Dynamic > -class PartitionedMatrixView : public PartitionedMatrixViewBase { - public: - // matrix = [E F], where the matrix E contains the first - // num_col_blocks_a column blocks. - PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e); - - virtual ~PartitionedMatrixView(); - virtual void LeftMultiplyE(const double* x, double* y) const; - virtual void LeftMultiplyF(const double* x, double* y) const; - virtual void RightMultiplyE(const double* x, double* y) const; - virtual void RightMultiplyF(const double* x, double* y) const; - virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const; - virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const; - virtual void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const; - virtual void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const; - virtual int num_col_blocks_e() const { return num_col_blocks_e_; } - virtual int num_col_blocks_f() const { return num_col_blocks_f_; } - virtual int num_cols_e() const { return num_cols_e_; } - virtual int num_cols_f() const { return num_cols_f_; } - virtual int num_rows() const { return matrix_.num_rows(); } - virtual int num_cols() const { return matrix_.num_cols(); } - - private: - BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block, - int end_col_block) const; - - const BlockSparseMatrix& matrix_; - int num_row_blocks_e_; - int num_col_blocks_e_; - int num_col_blocks_f_; - int num_cols_e_; - int num_cols_f_; -}; - -} // namespace internal -} // namespace ceres - -#endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_ |