Initial commit of Ceres Solver.
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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)
+//
+// 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 BlockSparseMatrixBase& 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 BlockSparseMatrixBase& 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_
