forked from bartvdbraak/blender
6fb6a08bf8
Even tho it's currently only used by Libmv we might use it for something else in the future. Plus, it's actually where it logically belongs to.
153 lines
6.3 KiB
C++
153 lines
6.3 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
//
|
|
// For generalized bi-partite Jacobian matrices that arise in
|
|
// Structure from Motion related problems, it is sometimes useful to
|
|
// have access to the two parts of the matrix as linear operators
|
|
// themselves. This class provides that functionality.
|
|
|
|
#ifndef CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
|
|
#define CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
|
|
|
|
#include <algorithm>
|
|
#include <cstring>
|
|
#include <vector>
|
|
|
|
#include "ceres/block_structure.h"
|
|
#include "ceres/internal/eigen.h"
|
|
#include "ceres/linear_solver.h"
|
|
#include "ceres/small_blas.h"
|
|
#include "glog/logging.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
// Given generalized bi-partite matrix A = [E F], with the same block
|
|
// structure as required by the Schur complement based solver, found
|
|
// in explicit_schur_complement_solver.h, provide access to the
|
|
// matrices E and F and their outer products E'E and F'F with
|
|
// themselves.
|
|
//
|
|
// Lack of BlockStructure object will result in a crash and if the
|
|
// block structure of the matrix does not satisfy the requirements of
|
|
// the Schur complement solver it will result in unpredictable and
|
|
// wrong output.
|
|
class PartitionedMatrixViewBase {
|
|
public:
|
|
virtual ~PartitionedMatrixViewBase() {}
|
|
|
|
// y += E'x
|
|
virtual void LeftMultiplyE(const double* x, double* y) const = 0;
|
|
|
|
// y += F'x
|
|
virtual void LeftMultiplyF(const double* x, double* y) const = 0;
|
|
|
|
// y += Ex
|
|
virtual void RightMultiplyE(const double* x, double* y) const = 0;
|
|
|
|
// y += Fx
|
|
virtual void RightMultiplyF(const double* x, double* y) const = 0;
|
|
|
|
// Create and return the block diagonal of the matrix E'E.
|
|
virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const = 0;
|
|
|
|
// Create and return the block diagonal of the matrix F'F. Caller
|
|
// owns the result.
|
|
virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const = 0;
|
|
|
|
// Compute the block diagonal of the matrix E'E and store it in
|
|
// block_diagonal. The matrix block_diagonal is expected to have a
|
|
// BlockStructure (preferably created using
|
|
// CreateBlockDiagonalMatrixEtE) which is has the same structure as
|
|
// the block diagonal of E'E.
|
|
virtual void UpdateBlockDiagonalEtE(
|
|
BlockSparseMatrix* block_diagonal) const = 0;
|
|
|
|
// Compute the block diagonal of the matrix F'F and store it in
|
|
// block_diagonal. The matrix block_diagonal is expected to have a
|
|
// BlockStructure (preferably created using
|
|
// CreateBlockDiagonalMatrixFtF) which is has the same structure as
|
|
// the block diagonal of F'F.
|
|
virtual void UpdateBlockDiagonalFtF(
|
|
BlockSparseMatrix* block_diagonal) const = 0;
|
|
|
|
virtual int num_col_blocks_e() const = 0;
|
|
virtual int num_col_blocks_f() const = 0;
|
|
virtual int num_cols_e() const = 0;
|
|
virtual int num_cols_f() const = 0;
|
|
virtual int num_rows() const = 0;
|
|
virtual int num_cols() const = 0;
|
|
|
|
static PartitionedMatrixViewBase* Create(const LinearSolver::Options& options,
|
|
const BlockSparseMatrix& matrix);
|
|
};
|
|
|
|
template <int kRowBlockSize = Eigen::Dynamic,
|
|
int kEBlockSize = Eigen::Dynamic,
|
|
int kFBlockSize = Eigen::Dynamic >
|
|
class PartitionedMatrixView : public PartitionedMatrixViewBase {
|
|
public:
|
|
// matrix = [E F], where the matrix E contains the first
|
|
// num_col_blocks_a column blocks.
|
|
PartitionedMatrixView(const BlockSparseMatrix& matrix, int num_col_blocks_e);
|
|
|
|
virtual ~PartitionedMatrixView();
|
|
virtual void LeftMultiplyE(const double* x, double* y) const;
|
|
virtual void LeftMultiplyF(const double* x, double* y) const;
|
|
virtual void RightMultiplyE(const double* x, double* y) const;
|
|
virtual void RightMultiplyF(const double* x, double* y) const;
|
|
virtual BlockSparseMatrix* CreateBlockDiagonalEtE() const;
|
|
virtual BlockSparseMatrix* CreateBlockDiagonalFtF() const;
|
|
virtual void UpdateBlockDiagonalEtE(BlockSparseMatrix* block_diagonal) const;
|
|
virtual void UpdateBlockDiagonalFtF(BlockSparseMatrix* block_diagonal) const;
|
|
virtual int num_col_blocks_e() const { return num_col_blocks_e_; }
|
|
virtual int num_col_blocks_f() const { return num_col_blocks_f_; }
|
|
virtual int num_cols_e() const { return num_cols_e_; }
|
|
virtual int num_cols_f() const { return num_cols_f_; }
|
|
virtual int num_rows() const { return matrix_.num_rows(); }
|
|
virtual int num_cols() const { return matrix_.num_cols(); }
|
|
|
|
private:
|
|
BlockSparseMatrix* CreateBlockDiagonalMatrixLayout(int start_col_block,
|
|
int end_col_block) const;
|
|
|
|
const BlockSparseMatrix& matrix_;
|
|
int num_row_blocks_e_;
|
|
int num_col_blocks_e_;
|
|
int num_col_blocks_f_;
|
|
int num_cols_e_;
|
|
int num_cols_f_;
|
|
};
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_INTERNAL_PARTITIONED_MATRIX_VIEW_H_
|