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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2023 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
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//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
#define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
#include <cstdint>
#include <memory>
#include <set>
#include <unordered_map>
#include <utility>
#include <vector>
#include "ceres/block_random_access_matrix.h"
#include "ceres/block_sparse_matrix.h"
#include "ceres/block_structure.h"
#include "ceres/context_impl.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#include "ceres/small_blas.h"
#include "ceres/types.h"
namespace ceres::internal {
// A thread safe square block sparse implementation of
// BlockRandomAccessMatrix. Internally a BlockSparseMatrix is used
// for doing the actual storage. This class augments this matrix with
// an unordered_map that allows random read/write access.
class CERES_NO_EXPORT BlockRandomAccessSparseMatrix
: public BlockRandomAccessMatrix {
public:
// blocks is an array of block sizes. block_pairs is a set of
// <row_block_id, col_block_id> pairs to identify the non-zero cells
// of this matrix.
BlockRandomAccessSparseMatrix(
const std::vector<Block>& blocks,
const std::set<std::pair<int, int>>& block_pairs,
ContextImpl* context,
int num_threads);
// The destructor is not thread safe. It assumes that no one is
// modifying any cells when the matrix is being destroyed.
~BlockRandomAccessSparseMatrix() override = default;
// 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;
// Assume that the matrix is symmetric and only one half of the matrix is
// stored.
//
// y += S * x
void SymmetricRightMultiplyAndAccumulate(const double* x, double* y) const;
// Since the matrix is square, num_rows() == num_cols().
int num_rows() const final { return bsm_->num_rows(); }
int num_cols() const final { return bsm_->num_cols(); }
// Access to the underlying matrix object.
const BlockSparseMatrix* matrix() const { return bsm_.get(); }
BlockSparseMatrix* mutable_matrix() { return bsm_.get(); }
private:
int64_t IntPairToInt64(int row, int col) const {
return row * kRowShift + col;
}
void Int64ToIntPair(int64_t index, int* row, int* col) const {
*row = index / kRowShift;
*col = index % kRowShift;
}
constexpr static int64_t kRowShift{1ll << 32};
// row/column block sizes.
const std::vector<Block> blocks_;
ContextImpl* context_ = nullptr;
const int num_threads_ = 1;
// A mapping from <row_block_id, col_block_id> to the position in
// the values array of bsm_ where the block is stored.
using LayoutType = std::unordered_map<std::int64_t, CellInfo>;
LayoutType layout_;
// The underlying matrix object which actually stores the cells.
std::unique_ptr<BlockSparseMatrix> bsm_;
friend class BlockRandomAccessSparseMatrixTest;
};
} // namespace ceres::internal
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_