1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
|
// 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: sameeragarwal@google.com (Sameer Agarwal)
//
// Block structure objects are used to carry information about the
// dense block structure of sparse matrices. The BlockSparseMatrix
// object uses the BlockStructure objects to keep track of the matrix
// structure and operate upon it. This allows us to use more cache
// friendly block oriented linear algebra operations on the matrix
// instead of accessing it one scalar entry at a time.
#ifndef CERES_INTERNAL_BLOCK_STRUCTURE_H_
#define CERES_INTERNAL_BLOCK_STRUCTURE_H_
#include <vector>
#include "ceres/internal/port.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
typedef int32 BlockSize;
struct Block {
Block() : size(-1), position(-1) {}
Block(int size_, int position_) : size(size_), position(position_) {}
BlockSize size;
int position; // Position along the row/column.
};
struct Cell {
Cell() : block_id(-1), position(-1) {}
Cell(int block_id_, int position_)
: block_id(block_id_), position(position_) {}
// Column or row block id as the case maybe.
int block_id;
// Where in the values array of the jacobian is this cell located.
int position;
};
// Order cell by their block_id;
bool CellLessThan(const Cell& lhs, const Cell& rhs);
struct CompressedList {
Block block;
std::vector<Cell> cells;
};
typedef CompressedList CompressedRow;
typedef CompressedList CompressedColumn;
struct CompressedRowBlockStructure {
std::vector<Block> cols;
std::vector<CompressedRow> rows;
};
struct CompressedColumnBlockStructure {
std::vector<Block> rows;
std::vector<CompressedColumn> cols;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_BLOCK_STRUCTURE_H_
|
