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 #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ 32 #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ 33 34 #include <set> 35 #include <vector> 36 #include <utility> 37 #include "ceres/mutex.h" 38 #include "ceres/block_random_access_matrix.h" 39 #include "ceres/collections_port.h" 40 #include "ceres/triplet_sparse_matrix.h" 41 #include "ceres/integral_types.h" 42 #include "ceres/internal/macros.h" 43 #include "ceres/internal/port.h" 44 #include "ceres/internal/scoped_ptr.h" 45 #include "ceres/types.h" 46 47 namespace ceres { 48 namespace internal { 49 50 // A thread safe square block sparse implementation of 51 // BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used 52 // for doing the actual storage. This class augments this matrix with 53 // an unordered_map that allows random read/write access. 54 class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix { 55 public: 56 // blocks is an array of block sizes. block_pairs is a set of 57 // <row_block_id, col_block_id> pairs to identify the non-zero cells 58 // of this matrix. 59 BlockRandomAccessSparseMatrix(const vector<int>& blocks, 60 const set<pair<int, int> >& block_pairs); 61 62 // The destructor is not thread safe. It assumes that no one is 63 // modifying any cells when the matrix is being destroyed. 64 virtual ~BlockRandomAccessSparseMatrix(); 65 66 // BlockRandomAccessMatrix Interface. 67 virtual CellInfo* GetCell(int row_block_id, 68 int col_block_id, 69 int* row, 70 int* col, 71 int* row_stride, 72 int* col_stride); 73 74 // This is not a thread safe method, it assumes that no cell is 75 // locked. 76 virtual void SetZero(); 77 78 // Since the matrix is square, num_rows() == num_cols(). num_rows()79 virtual int num_rows() const { return tsm_->num_rows(); } num_cols()80 virtual int num_cols() const { return tsm_->num_cols(); } 81 82 // Access to the underlying matrix object. matrix()83 const TripletSparseMatrix* matrix() const { return tsm_.get(); } mutable_matrix()84 TripletSparseMatrix* mutable_matrix() { return tsm_.get(); } 85 86 private: IntPairToLong(int a,int b)87 int64 IntPairToLong(int a, int b) { 88 return a * kMaxRowBlocks + b; 89 } 90 91 const int64 kMaxRowBlocks; 92 // row/column block sizes. 93 const vector<int> blocks_; 94 95 // A mapping from <row_block_id, col_block_id> to the position in 96 // the values array of tsm_ where the block is stored. 97 typedef HashMap<long int, CellInfo* > LayoutType; 98 LayoutType layout_; 99 100 // The underlying matrix object which actually stores the cells. 101 scoped_ptr<TripletSparseMatrix> tsm_; 102 103 friend class BlockRandomAccessSparseMatrixTest; 104 CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix); 105 }; 106 107 } // namespace internal 108 } // namespace ceres 109 110 #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_ 111