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 #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 32 #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 33 34 #include "ceres/block_random_access_matrix.h" 35 36 #include <vector> 37 38 #include "ceres/internal/macros.h" 39 #include "ceres/internal/port.h" 40 #include "ceres/internal/scoped_ptr.h" 41 42 namespace ceres { 43 namespace internal { 44 45 // A square block random accessible matrix with the same row and 46 // column block structure. All cells are stored in the same single 47 // array, so that its also accessible as a dense matrix of size 48 // num_rows x num_cols. 49 // 50 // This class is NOT thread safe. Since all n^2 cells are stored, 51 // GetCell never returns NULL for any (row_block_id, col_block_id) 52 // pair. 53 // 54 // ReturnCell is a nop. 55 class BlockRandomAccessDenseMatrix : public BlockRandomAccessMatrix { 56 public: 57 // blocks is a vector of block sizes. The resulting matrix has 58 // blocks.size() * blocks.size() cells. 59 explicit BlockRandomAccessDenseMatrix(const vector<int>& blocks); 60 61 // The destructor is not thread safe. It assumes that no one is 62 // modifying any cells when the matrix is being destroyed. 63 virtual ~BlockRandomAccessDenseMatrix(); 64 65 // BlockRandomAccessMatrix interface. 66 virtual CellInfo* GetCell(int row_block_id, 67 int col_block_id, 68 int* row, 69 int* col, 70 int* row_stride, 71 int* col_stride); 72 73 // This is not a thread safe method, it assumes that no cell is 74 // locked. 75 virtual void SetZero(); 76 77 // Since the matrix is square with the same row and column block 78 // structure, num_rows() = num_cols(). 79 virtual int num_rows() const { return num_rows_; } 80 virtual int num_cols() const { return num_rows_; } 81 82 // The underlying matrix storing the cells. 83 const double* values() const { return values_.get(); } 84 double* mutable_values() { return values_.get(); } 85 86 private: 87 int num_rows_; 88 vector<int> block_layout_; 89 scoped_array<double> values_; 90 scoped_array<CellInfo> cell_infos_; 91 92 CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessDenseMatrix); 93 }; 94 95 } // namespace internal 96 } // namespace ceres 97 98 #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_DENSE_MATRIX_H_ 99
