| // 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 |
| // 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_random_access_dense_matrix.h" |
| |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/internal/eigen.h" |
| #include "glog/logging.h" |
| |
| namespace ceres::internal { |
| |
| BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix( |
| std::vector<Block> blocks) |
| : blocks_(std::move(blocks)) { |
| const int num_blocks = blocks_.size(); |
| num_rows_ = NumScalarEntries(blocks_); |
| values_ = std::make_unique<double[]>(num_rows_ * num_rows_); |
| cell_infos_ = std::make_unique<CellInfo[]>(num_blocks * num_blocks); |
| for (int i = 0; i < num_blocks * num_blocks; ++i) { |
| cell_infos_[i].values = values_.get(); |
| } |
| |
| SetZero(); |
| } |
| |
| // Assume that the user does not hold any locks on any cell blocks |
| // when they are calling SetZero. |
| BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() = default; |
| |
| CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id, |
| const int col_block_id, |
| int* row, |
| int* col, |
| int* row_stride, |
| int* col_stride) { |
| *row = blocks_[row_block_id].position; |
| *col = blocks_[col_block_id].position; |
| *row_stride = num_rows_; |
| *col_stride = num_rows_; |
| return &cell_infos_[row_block_id * blocks_.size() + col_block_id]; |
| } |
| |
| // Assume that the user does not hold any locks on any cell blocks |
| // when they are calling SetZero. |
| void BlockRandomAccessDenseMatrix::SetZero() { |
| if (num_rows_) { |
| VectorRef(values_.get(), num_rows_ * num_rows_).setZero(); |
| } |
| } |
| |
| } // namespace ceres::internal |