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Diffstat (limited to 'redist/sba/sba.h')
| -rw-r--r-- | redist/sba/sba.h | 145 |
1 files changed, 145 insertions, 0 deletions
diff --git a/redist/sba/sba.h b/redist/sba/sba.h new file mode 100644 index 0000000..dd7b2b8 --- /dev/null +++ b/redist/sba/sba.h @@ -0,0 +1,145 @@ +/* +///////////////////////////////////////////////////////////////////////////////// +//// +//// Prototypes and definitions for sparse bundle adjustment +//// Copyright (C) 2004-2009 Manolis Lourakis (lourakis at ics forth gr) +//// Institute of Computer Science, Foundation for Research & Technology - Hellas +//// Heraklion, Crete, Greece. +//// +//// This program is free software; you can redistribute it and/or modify +//// it under the terms of the GNU General Public License as published by +//// the Free Software Foundation; either version 2 of the License, or +//// (at your option) any later version. +//// +//// This program is distributed in the hope that it will be useful, +//// but WITHOUT ANY WARRANTY; without even the implied warranty of +//// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +//// GNU General Public License for more details. +//// +/////////////////////////////////////////////////////////////////////////////////// +*/ + +#ifndef _SBA_H_ +#define _SBA_H_ + +/**************************** Start of configuration options ****************************/ + +/* define the following if a trailing underscore should be appended to lapack functions names */ +#define SBA_APPEND_UNDERSCORE_SUFFIX // undef this for AIX + +/* define this to make linear solver routines use the minimum amount of memory + * possible. This lowers the memory requirements of large BA problems but will + * most likely induce a penalty on performance + */ +/*#define SBA_LS_SCARCE_MEMORY */ + +/* define this to save some memory by storing the weight matrices for the image + * projections (i.e. wght in the expert drivers) into the memory containing their + * covariances (i.e. covx arg). Note that this overwrites covx, making changes + * noticeable by the caller + */ +/*#define SBA_DESTROY_COVS */ + +/********* End of configuration options, no changes necessary beyond this point *********/ + +#ifdef __cplusplus +extern "C" { +#endif + +#define SBA_MIN_DELTA 1E-06 // finite differentiation minimum delta +#define SBA_DELTA_SCALE 1E-04 // finite differentiation delta scale + +#define SBA_OPTSSZ 5 +#define SBA_INFOSZ 10 +#define SBA_ERROR -1 +#define SBA_INIT_MU 1E-03 +#define SBA_STOP_THRESH 1E-12 +#define SBA_CG_NOPREC 0 +#define SBA_CG_JACOBI 1 +#define SBA_CG_SSOR 2 +#define SBA_VERSION "1.6 (Aug. 2009)" + +/* Sparse matrix representation using Compressed Row Storage (CRS) format. + * See http://www.netlib.org/linalg/html_templates/node91.html#SECTION00931100000000000000 + */ + +struct sba_crsm { + int nr, nc; /* #rows, #cols for the sparse matrix */ + int nnz; /* number of nonzero array elements */ + int *val; /* storage for nonzero array elements. size: nnz */ + int *colidx; /* column indexes of nonzero elements. size: nnz */ + int *rowptr; /* locations in val that start a row. size: nr+1. + * By convention, rowptr[nr]=nnz + */ +}; + +/* sparse LM */ + +/* simple drivers */ +extern int sba_motstr_levmar(const int n, const int ncon, const int m, const int mcon, char *vmask, double *p, + const int cnp, const int pnp, double *x, double *covx, const int mnp, + void (*proj)(int j, int i, double *aj, double *bi, double *xij, void *adata), + void (*projac)(int j, int i, double *aj, double *bi, double *Aij, double *Bij, + void *adata), + void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], + double info[SBA_INFOSZ]); + +extern int sba_mot_levmar(const int n, const int m, const int mcon, char *vmask, double *p, const int cnp, double *x, + double *covx, const int mnp, void (*proj)(int j, int i, double *aj, double *xij, void *adata), + void (*projac)(int j, int i, double *aj, double *Aij, void *adata), void *adata, + const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]); + +extern int sba_str_levmar(const int n, const int ncon, const int m, char *vmask, double *p, const int pnp, double *x, + double *covx, const int mnp, void (*proj)(int j, int i, double *bi, double *xij, void *adata), + void (*projac)(int j, int i, double *bi, double *Bij, void *adata), void *adata, + const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]); + +/* expert drivers */ +extern int +sba_motstr_levmar_x(const int n, const int ncon, const int m, const int mcon, char *vmask, double *p, const int cnp, + const int pnp, double *x, double *covx, const int mnp, + void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), + void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), + void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], + double info[SBA_INFOSZ]); + +extern int sba_mot_levmar_x( + const int n, const int m, const int mcon, char *vmask, double *p, const int cnp, double *x, double *covx, + const int mnp, void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), + void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), void *adata, + const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]); + +extern int sba_str_levmar_x( + const int n, const int ncon, const int m, char *vmask, double *p, const int pnp, double *x, double *covx, + const int mnp, void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata), + void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata), void *adata, + const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]); + +/* interfaces to LAPACK routines: solution of linear systems, matrix inversion, cholesky of inverse */ +extern int sba_Axb_QR(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_QRnoQ(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_Chol(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_LDLt(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_LU(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_SVD(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_BK(double *A, double *B, double *x, int m, int iscolmaj); +extern int sba_Axb_CG(double *A, double *B, double *x, int m, int niter, double eps, int prec, int iscolmaj); +extern int sba_symat_invert_LU(double *A, int m); +extern int sba_symat_invert_Chol(double *A, int m); +extern int sba_symat_invert_BK(double *A, int m); +extern int sba_mat_cholinv(double *A, double *B, int m); + +/* CRS sparse matrices manipulation routines */ +extern void sba_crsm_alloc(struct sba_crsm *sm, int nr, int nc, int nnz); +extern void sba_crsm_free(struct sba_crsm *sm); +extern int sba_crsm_elmidx(struct sba_crsm *sm, int i, int j); +extern int sba_crsm_elmidxp(struct sba_crsm *sm, int i, int j, int jp, int jpidx); +extern int sba_crsm_row_elmidxs(struct sba_crsm *sm, int i, int *vidxs, int *jidxs); +extern int sba_crsm_col_elmidxs(struct sba_crsm *sm, int j, int *vidxs, int *iidxs); +/* extern int sba_crsm_common_row(struct sba_crsm *sm, int j, int k); */ + +#ifdef __cplusplus +} +#endif + +#endif /* _SBA_H_ */ |