1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2015 Google Inc. All rights reserved. 3 // http://ceres-solver.org/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal@google.com (Sameer Agarwal) 30 31 #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_ 32 #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_ 33 34 #include <memory> 35 #include <set> 36 #include <utility> 37 #include <vector> 38 39 #include "ceres/block_random_access_matrix.h" 40 #include "ceres/internal/port.h" 41 #include "ceres/triplet_sparse_matrix.h" 42 #include "ceres/types.h" 43 44 namespace ceres { 45 namespace internal { 46 47 // A thread safe block diagonal matrix implementation of 48 // BlockRandomAccessMatrix. 49 class BlockRandomAccessDiagonalMatrix : public BlockRandomAccessMatrix { 50 public: 51 // blocks is an array of block sizes. 52 explicit BlockRandomAccessDiagonalMatrix(const std::vector<int>& blocks); 53 BlockRandomAccessDiagonalMatrix(const BlockRandomAccessDiagonalMatrix&) = delete; 54 void operator=(const BlockRandomAccessDiagonalMatrix&) = delete; 55 56 // The destructor is not thread safe. It assumes that no one is 57 // modifying any cells when the matrix is being destroyed. 58 virtual ~BlockRandomAccessDiagonalMatrix(); 59 60 // BlockRandomAccessMatrix Interface. 61 CellInfo* GetCell(int row_block_id, 62 int col_block_id, 63 int* row, 64 int* col, 65 int* row_stride, 66 int* col_stride) final; 67 68 // This is not a thread safe method, it assumes that no cell is 69 // locked. 70 void SetZero() final; 71 72 // Invert the matrix assuming that each block is positive definite. 73 void Invert(); 74 75 // y += S * x 76 void RightMultiply(const double* x, double* y) const; 77 78 // Since the matrix is square, num_rows() == num_cols(). num_rows()79 int num_rows() const final { return tsm_->num_rows(); } num_cols()80 int num_cols() const final { return tsm_->num_cols(); } 81 matrix()82 const TripletSparseMatrix* matrix() const { return tsm_.get(); } mutable_matrix()83 TripletSparseMatrix* mutable_matrix() { return tsm_.get(); } 84 85 private: 86 // row/column block sizes. 87 const std::vector<int> blocks_; 88 std::vector<CellInfo*> layout_; 89 90 // The underlying matrix object which actually stores the cells. 91 std::unique_ptr<TripletSparseMatrix> tsm_; 92 93 friend class BlockRandomAccessDiagonalMatrixTest; 94 }; 95 96 } // namespace internal 97 } // namespace ceres 98 99 #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DIAGONAL_MATRIX_H_ 100