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 //
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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.
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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
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28 //
29 // Author: sameeragarwal@google.com (Sameer Agarwal)
30
31 #include "ceres/block_random_access_dense_matrix.h"
32
33 #include <vector>
34 #include "ceres/internal/eigen.h"
35 #include "ceres/internal/scoped_ptr.h"
36 #include "glog/logging.h"
37
38 namespace ceres {
39 namespace internal {
40
BlockRandomAccessDenseMatrix(const vector<int> & blocks)41 BlockRandomAccessDenseMatrix::BlockRandomAccessDenseMatrix(
42 const vector<int>& blocks) {
43 const int num_blocks = blocks.size();
44 block_layout_.resize(num_blocks, 0);
45 num_rows_ = 0;
46 for (int i = 0; i < num_blocks; ++i) {
47 block_layout_[i] = num_rows_;
48 num_rows_ += blocks[i];
49 }
50
51 values_.reset(new double[num_rows_ * num_rows_]);
52
53 cell_infos_.reset(new CellInfo[num_blocks * num_blocks]);
54 for (int i = 0; i < num_blocks * num_blocks; ++i) {
55 cell_infos_[i].values = values_.get();
56 }
57
58 SetZero();
59 }
60
61 // Assume that the user does not hold any locks on any cell blocks
62 // when they are calling SetZero.
~BlockRandomAccessDenseMatrix()63 BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() {
64 }
65
GetCell(const int row_block_id,const int col_block_id,int * row,int * col,int * row_stride,int * col_stride)66 CellInfo* BlockRandomAccessDenseMatrix::GetCell(const int row_block_id,
67 const int col_block_id,
68 int* row,
69 int* col,
70 int* row_stride,
71 int* col_stride) {
72 *row = block_layout_[row_block_id];
73 *col = block_layout_[col_block_id];
74 *row_stride = num_rows_;
75 *col_stride = num_rows_;
76 return &cell_infos_[row_block_id * block_layout_.size() + col_block_id];
77 }
78
79 // Assume that the user does not hold any locks on any cell blocks
80 // when they are calling SetZero.
SetZero()81 void BlockRandomAccessDenseMatrix::SetZero() {
82 if (num_rows_) {
83 VectorRef(values_.get(), num_rows_ * num_rows_).setZero();
84 }
85 }
86
87 } // namespace internal
88 } // namespace ceres
89