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_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 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. 63 BlockRandomAccessDenseMatrix::~BlockRandomAccessDenseMatrix() { 64 } 65 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. 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
