| // 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) |
| |
| #include "ceres/block_structure.h" |
| #include "ceres/matrix_proto.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| bool CellLessThan(const Cell& lhs, const Cell& rhs) { |
| return (lhs.block_id < rhs.block_id); |
| } |
| |
| #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS |
| void ProtoToBlockStructure(const BlockStructureProto &proto, |
| CompressedRowBlockStructure *block_structure) { |
| // Decode the column blocks. |
| block_structure->cols.resize(proto.cols_size()); |
| for (int i = 0; i < proto.cols_size(); ++i) { |
| block_structure->cols[i].size = proto.cols(i).size(); |
| block_structure->cols[i].position = |
| proto.cols(i).position(); |
| } |
| // Decode the row structure. |
| block_structure->rows.resize(proto.rows_size()); |
| for (int i = 0; i < proto.rows_size(); ++i) { |
| const CompressedRowProto &row = proto.rows(i); |
| block_structure->rows[i].block.size = row.block().size(); |
| block_structure->rows[i].block.position = row.block().position(); |
| |
| // Copy the cells within the row. |
| block_structure->rows[i].cells.resize(row.cells_size()); |
| for (int j = 0; j < row.cells_size(); ++j) { |
| const CellProto &cell = row.cells(j); |
| block_structure->rows[i].cells[j].block_id = cell.block_id(); |
| block_structure->rows[i].cells[j].position = cell.position(); |
| } |
| } |
| } |
| |
| void BlockStructureToProto(const CompressedRowBlockStructure &block_structure, |
| BlockStructureProto *proto) { |
| // Encode the column blocks. |
| for (int i = 0; i < block_structure.cols.size(); ++i) { |
| BlockProto *block = proto->add_cols(); |
| block->set_size(block_structure.cols[i].size); |
| block->set_position(block_structure.cols[i].position); |
| } |
| // Encode the row structure. |
| for (int i = 0; i < block_structure.rows.size(); ++i) { |
| CompressedRowProto *row = proto->add_rows(); |
| BlockProto *block = row->mutable_block(); |
| block->set_size(block_structure.rows[i].block.size); |
| block->set_position(block_structure.rows[i].block.position); |
| for (int j = 0; j < block_structure.rows[i].cells.size(); ++j) { |
| CellProto *cell = row->add_cells(); |
| cell->set_block_id(block_structure.rows[i].cells[j].block_id); |
| cell->set_position(block_structure.rows[i].cells[j].position); |
| } |
| } |
| } |
| #endif |
| |
| } // namespace internal |
| } // namespace ceres |