QVision: Qt's Image, Video and Computer Vision Library

00001 /*
00020 */
00021 
00022 //#define SAVE_REDUCED_MATRIX
00023 
00024 #ifndef _SBA_H_
00025 #define _SBA_H_
00026 
00027 /**************************** Start of configuration options ****************************/
00028 
00029 /* define the following if a trailing underscore should be appended to lapack functions names */
00030 #define SBA_APPEND_UNDERSCORE_SUFFIX // undef this for AIX
00031 
00032 
00033 /* define this to make linear solver routines use the minimum amount of memory
00034  * possible. This lowers the memory requirements of large BA problems but will
00035  * most likely induce a penalty on performance
00036  */
00037 /*#define SBA_LS_SCARCE_MEMORY */
00038 
00039 
00040 /* define this to save some memory by storing the weight matrices for the image
00041  * projections (i.e. wght in the expert drivers) into the memory containing their
00042  * covariances (i.e. covx arg). Note that this overwrites covx, making changes
00043  * noticeable by the caller
00044  */
00045 /*#define SBA_DESTROY_COVS */
00046 
00047 
00048 /********* End of configuration options, no changes necessary beyond this point *********/
00049 
00050 #ifdef __cplusplus
00051 extern "C" {
00052 #endif
00053 
00054 #define SBA_MIN_DELTA     1E-06 // finite differentiation minimum delta
00055 #define SBA_DELTA_SCALE   1E-04 // finite differentiation delta scale
00056 
00057 #define SBA_OPTSSZ        5
00058 #define SBA_INFOSZ        10
00059 #define SBA_ERROR         -1
00060 #define SBA_INIT_MU       1E-03
00061 #define SBA_STOP_THRESH   1E-12
00062 #define SBA_CG_NOPREC     0
00063 #define SBA_CG_JACOBI     1
00064 #define SBA_CG_SSOR       2
00065 #define SBA_VERSION       "1.6 (Aug. 2009)"
00066 
00067 
00068 /* Sparse matrix representation using Compressed Row Storage (CRS) format.
00069  * See http://www.netlib.org/linalg/html_templates/node91.html#SECTION00931100000000000000
00070  */
00071 
00072 struct sba_crsm{
00073     int nr, nc;   /* #rows, #cols for the sparse matrix */
00074     int nnz;      /* number of nonzero array elements */
00075     int *val;     /* storage for nonzero array elements. size: nnz */
00076     int *colidx;  /* column indexes of nonzero elements. size: nnz */
00077     int *rowptr;  /* locations in val that start a row. size: nr+1.
00078                    * By convention, rowptr[nr]=nnz
00079                    */
00080 };
00081 
00082 /* sparse LM */
00083 
00084 /* simple drivers */
00085 extern int
00086 sba_motstr_levmar(const int n, const int ncon, const int m, const int mcon, char *vmask,
00087            double *p, const int cnp, const int pnp, double *x, double *covx, const int mnp,
00088            void (*proj)(int j, int i, double *aj, double *bi, double *xij, void *adata),
00089            void (*projac)(int j, int i, double *aj, double *bi, double *Aij, double *Bij, void *adata),
00090            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00091 
00092 extern int
00093 sba_mot_levmar(const int n, const int m, const int mcon, char *vmask, double *p, const int cnp,
00094            double *x, double *covx, const int mnp,
00095            void (*proj)(int j, int i, double *aj, double *xij, void *adata),
00096            void (*projac)(int j, int i, double *aj, double *Aij, void *adata),
00097            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00098 
00099 extern int
00100 sba_str_levmar(const int n, const int ncon, const int m, char *vmask, double *p, const int pnp,
00101            double *x, double *covx, const int mnp,
00102            void (*proj)(int j, int i, double *bi, double *xij, void *adata),
00103            void (*projac)(int j, int i, double *bi, double *Bij, void *adata),
00104            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00105 
00106 
00107 /* expert drivers */
00108 extern int
00109 sba_motstr_levmar_x(const int n, const int ncon, const int m, const int mcon, char *vmask, double *p,
00110            const int cnp, const int pnp, double *x, double *covx, const int mnp,
00111            void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
00112            void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
00113            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00114 
00115 extern int
00116 sba_mot_levmar_x(const int n, const int m, const int mcon, char *vmask, double *p, const int cnp,
00117            double *x, double *covx, const int mnp,
00118            void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
00119            void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
00120            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00121 
00122 extern int
00123 sba_str_levmar_x(const int n, const int ncon, const int m, char *vmask, double *p, const int pnp,
00124            double *x, double *covx, const int mnp,
00125            void (*func)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *hx, void *adata),
00126            void (*fjac)(double *p, struct sba_crsm *idxij, int *rcidxs, int *rcsubs, double *jac, void *adata),
00127            void *adata, const int itmax, const int verbose, const double opts[SBA_OPTSSZ], double info[SBA_INFOSZ]);
00128 
00129 
00130 /* interfaces to LAPACK routines: solution of linear systems, matrix inversion, cholesky of inverse */
00131 extern int sba_Axb_QR(double *A, double *B, double *x, int m, int iscolmaj);
00132 extern int sba_Axb_QRnoQ(double *A, double *B, double *x, int m, int iscolmaj);
00133 extern int sba_Axb_Chol(double *A, double *B, double *x, int m, int iscolmaj);
00134 extern int sba_Axb_LDLt(double *A, double *B, double *x, int m, int iscolmaj);
00135 extern int sba_Axb_LU(double *A, double *B, double *x, int m, int iscolmaj);
00136 extern int sba_Axb_SVD(double *A, double *B, double *x, int m, int iscolmaj);
00137 extern int sba_Axb_BK(double *A, double *B, double *x, int m, int iscolmaj);
00138 extern int sba_Axb_CG(double *A, double *B, double *x, int m, int niter, double eps, int prec, int iscolmaj);
00139 extern int sba_symat_invert_LU(double *A, int m);
00140 extern int sba_symat_invert_Chol(double *A, int m);
00141 extern int sba_symat_invert_BK(double *A, int m);
00142 extern int sba_mat_cholinv(double *A, double *B, int m);
00143 
00144 /* CRS sparse matrices manipulation routines */
00145 extern void sba_crsm_alloc(struct sba_crsm *sm, int nr, int nc, int nnz);
00146 extern void sba_crsm_free(struct sba_crsm *sm);
00147 extern int sba_crsm_elmidx(struct sba_crsm *sm, int i, int j);
00148 extern int sba_crsm_elmidxp(struct sba_crsm *sm, int i, int j, int jp, int jpidx);
00149 extern int sba_crsm_row_elmidxs(struct sba_crsm *sm, int i, int *vidxs, int *jidxs);
00150 extern int sba_crsm_col_elmidxs(struct sba_crsm *sm, int j, int *vidxs, int *iidxs);
00151 /* extern int sba_crsm_common_row(struct sba_crsm *sm, int j, int k); */
00152 
00153 #ifdef __cplusplus
00154 }
00155 #endif
00156 
00157 #endif /* _SBA_H_ */
src/qvsfm/laSBA/sba-1.6/sba.h
