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 (at) 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 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 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 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
