| // 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/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // 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 "ceres/block_sparse_matrix.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. |
| // |
| // This class lives in the internal name space as its a utility class |
| // to be used by the IterativeSchurComplementSolver class, found in |
| // iterative_schur_complement_solver.h, and is not meant for general |
| // consumption. |
| class PartitionedMatrixView { |
| 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_a); |
| ~PartitionedMatrixView(); |
| |
| // y += E'x |
| void LeftMultiplyE(const double* x, double* y) const; |
| |
| // y += F'x |
| void LeftMultiplyF(const double* x, double* y) const; |
| |
| // y += Ex |
| void RightMultiplyE(const double* x, double* y) const; |
| |
| // y += Fx |
| void RightMultiplyF(const double* x, double* y) const; |
| |
| // Create and return the block diagonal of the matrix E'E. |
| BlockSparseMatrix* CreateBlockDiagonalEtE() const; |
| |
| // Create and return the block diagonal of the matrix F'F. |
| BlockSparseMatrix* CreateBlockDiagonalFtF() const; |
| |
| // 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. |
| void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const; |
| |
| // 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. |
| void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const; |
| |
| int num_col_blocks_e() const { return num_col_blocks_e_; } |
| int num_col_blocks_f() const { return num_col_blocks_f_; } |
| int num_cols_e() const { return num_cols_e_; } |
| int num_cols_f() const { return num_cols_f_; } |
| int num_rows() const { return matrix_.num_rows(); } |
| 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_ |