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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 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
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Authors: dmitriy.korchemkin@gmail.com (Dmitriy Korchemkin)
#ifndef CERES_INTERNAL_CUDA_KERNELS_BSM_TO_CRS_H_
#define CERES_INTERNAL_CUDA_KERNELS_BSM_TO_CRS_H_
#include "ceres/internal/config.h"
#ifndef CERES_NO_CUDA
#include "cuda_runtime.h"
namespace ceres {
namespace internal {
struct Block;
struct Cell;
class ContextImpl;
// Compute structure of CRS matrix using block-sparse structure.
// Arrays corresponding to CRS matrix are to be allocated by caller
void FillCRSStructure(const int num_row_blocks,
const int num_rows,
const int* first_cell_in_row_block,
const Cell* cells,
const Block* row_blocks,
const Block* col_blocks,
int* rows,
int* cols,
cudaStream_t stream,
ContextImpl* context);
// Compute structure of partitioned CRS matrix using block-sparse structure.
// Arrays corresponding to CRS matrices are to be allocated by caller
void FillCRSStructurePartitioned(const int num_row_blocks,
const int num_rows,
const int num_row_blocks_e,
const int num_col_blocks_e,
const int num_nonzeros_e,
const int* first_cell_in_row_block,
const Cell* cells,
const Block* row_blocks,
const Block* col_blocks,
int* rows_e,
int* cols_e,
int* rows_f,
int* cols_f,
cudaStream_t stream,
ContextImpl* context);
// Permute segment of values from block-sparse matrix with sequential layout to
// CRS order. Segment starts at block_sparse_offset and has length of num_values
void PermuteToCRS(const int block_sparse_offset,
const int num_values,
const int num_row_blocks,
const int* first_cell_in_row_block,
const Cell* cells,
const Block* row_blocks,
const Block* col_blocks,
const int* crs_rows,
const double* block_sparse_values,
double* crs_values,
cudaStream_t stream);
// Permute segment of values from F sub-matrix of block-sparse partitioned
// matrix with sequential layout to CRS order. Segment starts at
// block_sparse_offset (including the offset induced by values of E submatrix)
// and has length of num_values
void PermuteToCRSPartitionedF(const int block_sparse_offset,
const int num_values,
const int num_row_blocks,
const int num_row_blocks_e,
const int* first_cell_in_row_block,
const int* value_offset_row_block_f,
const Cell* cells,
const Block* row_blocks,
const Block* col_blocks,
const int* crs_rows,
const double* block_sparse_values,
double* crs_values,
cudaStream_t stream);
} // namespace internal
} // namespace ceres
#endif // CERES_NO_CUDA
#endif // CERES_INTERNAL_CUDA_KERNELS_BSM_TO_CRS_H_