summaryrefslogtreecommitdiff
path: root/libmoped/libs/sba-1.6/sba.h
blob: 91b7c5588ce385e6103e34b53700e5ead0e5da1d (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
/*
/////////////////////////////////////////////////////////////////////////////////
//// 
////  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_ */