Initial commit of Ceres Solver.
diff --git a/internal/ceres/block_structure.cc b/internal/ceres/block_structure.cc
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+// 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
