1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
3 // http://code.google.com/p/ceres-solver/
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 #include "ceres/block_structure.h"
32 #include "ceres/matrix_proto.h"
33
34 namespace ceres {
35 namespace internal {
36
CellLessThan(const Cell & lhs,const Cell & rhs)37 bool CellLessThan(const Cell& lhs, const Cell& rhs) {
38 return (lhs.block_id < rhs.block_id);
39 }
40
41 #ifndef CERES_NO_PROTOCOL_BUFFERS
ProtoToBlockStructure(const BlockStructureProto & proto,CompressedRowBlockStructure * block_structure)42 void ProtoToBlockStructure(const BlockStructureProto &proto,
43 CompressedRowBlockStructure *block_structure) {
44 // Decode the column blocks.
45 block_structure->cols.resize(proto.cols_size());
46 for (int i = 0; i < proto.cols_size(); ++i) {
47 block_structure->cols[i].size = proto.cols(i).size();
48 block_structure->cols[i].position =
49 proto.cols(i).position();
50 }
51 // Decode the row structure.
52 block_structure->rows.resize(proto.rows_size());
53 for (int i = 0; i < proto.rows_size(); ++i) {
54 const CompressedRowProto &row = proto.rows(i);
55 block_structure->rows[i].block.size = row.block().size();
56 block_structure->rows[i].block.position = row.block().position();
57
58 // Copy the cells within the row.
59 block_structure->rows[i].cells.resize(row.cells_size());
60 for (int j = 0; j < row.cells_size(); ++j) {
61 const CellProto &cell = row.cells(j);
62 block_structure->rows[i].cells[j].block_id = cell.block_id();
63 block_structure->rows[i].cells[j].position = cell.position();
64 }
65 }
66 }
67
BlockStructureToProto(const CompressedRowBlockStructure & block_structure,BlockStructureProto * proto)68 void BlockStructureToProto(const CompressedRowBlockStructure &block_structure,
69 BlockStructureProto *proto) {
70 // Encode the column blocks.
71 for (int i = 0; i < block_structure.cols.size(); ++i) {
72 BlockProto *block = proto->add_cols();
73 block->set_size(block_structure.cols[i].size);
74 block->set_position(block_structure.cols[i].position);
75 }
76 // Encode the row structure.
77 for (int i = 0; i < block_structure.rows.size(); ++i) {
78 CompressedRowProto *row = proto->add_rows();
79 BlockProto *block = row->mutable_block();
80 block->set_size(block_structure.rows[i].block.size);
81 block->set_position(block_structure.rows[i].block.position);
82 for (int j = 0; j < block_structure.rows[i].cells.size(); ++j) {
83 CellProto *cell = row->add_cells();
84 cell->set_block_id(block_structure.rows[i].cells[j].block_id);
85 cell->set_position(block_structure.rows[i].cells[j].position);
86 }
87 }
88 }
89 #endif
90
91 } // namespace internal
92 } // namespace ceres
93