1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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6 // modification, are permitted provided that the following conditions are met:
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
31 #ifndef CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
32 #define CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_
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 #include "ceres/small_blas.h"
51 // A thread safe square block sparse implementation of
52 // BlockRandomAccessMatrix. Internally a TripletSparseMatrix is used
53 // for doing the actual storage. This class augments this matrix with
54 // an unordered_map that allows random read/write access.
55 class BlockRandomAccessSparseMatrix : public BlockRandomAccessMatrix {
57 // blocks is an array of block sizes. block_pairs is a set of
58 // <row_block_id, col_block_id> pairs to identify the non-zero cells
60 BlockRandomAccessSparseMatrix(
61 const std::vector<int>& blocks,
62 const std::set<std::pair<int, int> >& block_pairs);
64 // The destructor is not thread safe. It assumes that no one is
65 // modifying any cells when the matrix is being destroyed.
66 virtual ~BlockRandomAccessSparseMatrix();
68 // BlockRandomAccessMatrix Interface.
69 virtual CellInfo* GetCell(int row_block_id,
76 // This is not a thread safe method, it assumes that no cell is
78 virtual void SetZero();
80 // Assume that the matrix is symmetric and only one half of the
84 void SymmetricRightMultiply(const double* x, double* y) const;
86 // Since the matrix is square, num_rows() == num_cols().
87 virtual int num_rows() const { return tsm_->num_rows(); }
88 virtual int num_cols() const { return tsm_->num_cols(); }
90 // Access to the underlying matrix object.
91 const TripletSparseMatrix* matrix() const { return tsm_.get(); }
92 TripletSparseMatrix* mutable_matrix() { return tsm_.get(); }
95 int64 IntPairToLong(int row, int col) const {
96 return row * kMaxRowBlocks + col;
99 void LongToIntPair(int64 index, int* row, int* col) const {
100 *row = index / kMaxRowBlocks;
101 *col = index % kMaxRowBlocks;
104 const int64 kMaxRowBlocks;
106 // row/column block sizes.
107 const std::vector<int> blocks_;
108 std::vector<int> block_positions_;
110 // A mapping from <row_block_id, col_block_id> to the position in
111 // the values array of tsm_ where the block is stored.
112 typedef HashMap<long int, CellInfo* > LayoutType;
115 // In order traversal of contents of the matrix. This allows us to
116 // implement a matrix-vector which is 20% faster than using the
117 // iterator in the Layout object instead.
118 std::vector<std::pair<std::pair<int, int>, double*> > cell_values_;
119 // The underlying matrix object which actually stores the cells.
120 scoped_ptr<TripletSparseMatrix> tsm_;
122 friend class BlockRandomAccessSparseMatrixTest;
123 CERES_DISALLOW_COPY_AND_ASSIGN(BlockRandomAccessSparseMatrix);
126 } // namespace internal
129 #endif // CERES_INTERNAL_BLOCK_RANDOM_ACCESS_SPARSE_MATRIX_H_