| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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 |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| |
| #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |
| #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |
| |
| #include "ceres/block_random_access_matrix.h" |
| |
| #include <memory> |
| #include <vector> |
| |
| #include "ceres/internal/port.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| // A square block random accessible matrix with the same row and |
| // column block structure. All cells are stored in the same single |
| // array, so that its also accessible as a dense matrix of size |
| // num_rows x num_cols. |
| // |
| // This class is NOT thread safe. Since all n^2 cells are stored, |
| // GetCell never returns NULL for any (row_block_id, col_block_id) |
| // pair. |
| // |
| // ReturnCell is a nop. |
| class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix { |
| public: |
| // blocks is a vector of block sizes. The resulting matrix has |
| // blocks.size() * blocks.size() cells. |
| explicit BlockRandomAccessDenseMatrix(const std::vector<int>& blocks); |
| BlockRandomAccessDenseMatrix(const BlockRandomAccessDenseMatrix&) = delete; |
| void operator=(const BlockRandomAccessDenseMatrix&) = delete; |
| |
| // The destructor is not thread safe. It assumes that no one is |
| // modifying any cells when the matrix is being destroyed. |
| virtual ~BlockRandomAccessDenseMatrix(); |
| |
| // BlockRandomAccessMatrix interface. |
| CellInfo* GetCell(int row_block_id, |
| int col_block_id, |
| int* row, |
| int* col, |
| int* row_stride, |
| int* col_stride) final; |
| |
| // This is not a thread safe method, it assumes that no cell is |
| // locked. |
| void SetZero() final; |
| |
| // Since the matrix is square with the same row and column block |
| // structure, num_rows() = num_cols(). |
| int num_rows() const final { return num_rows_; } |
| int num_cols() const final { return num_rows_; } |
| |
| // The underlying matrix storing the cells. |
| const double* values() const { return values_.get(); } |
| double* mutable_values() { return values_.get(); } |
| |
| private: |
| int num_rows_; |
| std::vector<int> block_layout_; |
| std::unique_ptr<double[]> values_; |
| std::unique_ptr<CellInfo[]> cell_infos_; |
| }; |
| |
| } // namespace internal |
| } // namespace ceres |
| |
| #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ |