Open Source Computer Vision Library
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238 lines
7.0 KiB
238 lines
7.0 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "precomp.hpp" |
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namespace cv { namespace hal { |
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/****************************************************************************************\ |
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* LU & Cholesky implementation for small matrices * |
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\****************************************************************************************/ |
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template<typename _Tp> static inline int |
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LUImpl(_Tp* A, size_t astep, int m, _Tp* b, size_t bstep, int n, _Tp eps) |
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{ |
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int i, j, k, p = 1; |
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astep /= sizeof(A[0]); |
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bstep /= sizeof(b[0]); |
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for( i = 0; i < m; i++ ) |
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{ |
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k = i; |
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for( j = i+1; j < m; j++ ) |
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if( std::abs(A[j*astep + i]) > std::abs(A[k*astep + i]) ) |
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k = j; |
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if( std::abs(A[k*astep + i]) < eps ) |
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return 0; |
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if( k != i ) |
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{ |
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for( j = i; j < m; j++ ) |
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std::swap(A[i*astep + j], A[k*astep + j]); |
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if( b ) |
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for( j = 0; j < n; j++ ) |
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std::swap(b[i*bstep + j], b[k*bstep + j]); |
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p = -p; |
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} |
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_Tp d = -1/A[i*astep + i]; |
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for( j = i+1; j < m; j++ ) |
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{ |
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_Tp alpha = A[j*astep + i]*d; |
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for( k = i+1; k < m; k++ ) |
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A[j*astep + k] += alpha*A[i*astep + k]; |
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if( b ) |
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for( k = 0; k < n; k++ ) |
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b[j*bstep + k] += alpha*b[i*bstep + k]; |
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} |
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} |
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if( b ) |
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{ |
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for( i = m-1; i >= 0; i-- ) |
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for( j = 0; j < n; j++ ) |
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{ |
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_Tp s = b[i*bstep + j]; |
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for( k = i+1; k < m; k++ ) |
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s -= A[i*astep + k]*b[k*bstep + j]; |
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b[i*bstep + j] = s/A[i*astep + i]; |
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} |
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} |
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return p; |
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} |
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int LU32f(float* A, size_t astep, int m, float* b, size_t bstep, int n) |
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{ |
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int output; |
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CALL_HAL_RET(LU32f, cv_hal_LU32f, output, A, astep, m, b, bstep, n) |
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output = LUImpl(A, astep, m, b, bstep, n, FLT_EPSILON*10); |
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return output; |
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} |
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int LU64f(double* A, size_t astep, int m, double* b, size_t bstep, int n) |
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{ |
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int output; |
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CALL_HAL_RET(LU64f, cv_hal_LU64f, output, A, astep, m, b, bstep, n) |
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output = LUImpl(A, astep, m, b, bstep, n, DBL_EPSILON*100); |
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return output; |
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} |
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template<typename _Tp> static inline bool |
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CholImpl(_Tp* A, size_t astep, int m, _Tp* b, size_t bstep, int n) |
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{ |
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_Tp* L = A; |
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int i, j, k; |
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double s; |
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astep /= sizeof(A[0]); |
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bstep /= sizeof(b[0]); |
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for( i = 0; i < m; i++ ) |
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{ |
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for( j = 0; j < i; j++ ) |
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{ |
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s = A[i*astep + j]; |
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for( k = 0; k < j; k++ ) |
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s -= L[i*astep + k]*L[j*astep + k]; |
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L[i*astep + j] = (_Tp)(s*L[j*astep + j]); |
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} |
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s = A[i*astep + i]; |
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for( k = 0; k < j; k++ ) |
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{ |
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double t = L[i*astep + k]; |
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s -= t*t; |
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} |
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if( s < std::numeric_limits<_Tp>::epsilon() ) |
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return false; |
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L[i*astep + i] = (_Tp)(1./std::sqrt(s)); |
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} |
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if( !b ) |
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return true; |
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// LLt x = b |
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// 1: L y = b |
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// 2. Lt x = y |
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/* |
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[ L00 ] y0 b0 |
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[ L10 L11 ] y1 = b1 |
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[ L20 L21 L22 ] y2 b2 |
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[ L30 L31 L32 L33 ] y3 b3 |
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[ L00 L10 L20 L30 ] x0 y0 |
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[ L11 L21 L31 ] x1 = y1 |
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[ L22 L32 ] x2 y2 |
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[ L33 ] x3 y3 |
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*/ |
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for( i = 0; i < m; i++ ) |
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{ |
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for( j = 0; j < n; j++ ) |
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{ |
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s = b[i*bstep + j]; |
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for( k = 0; k < i; k++ ) |
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s -= L[i*astep + k]*b[k*bstep + j]; |
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b[i*bstep + j] = (_Tp)(s*L[i*astep + i]); |
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} |
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} |
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for( i = m-1; i >= 0; i-- ) |
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{ |
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for( j = 0; j < n; j++ ) |
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{ |
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s = b[i*bstep + j]; |
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for( k = m-1; k > i; k-- ) |
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s -= L[k*astep + i]*b[k*bstep + j]; |
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b[i*bstep + j] = (_Tp)(s*L[i*astep + i]); |
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} |
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} |
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return true; |
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} |
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bool Cholesky32f(float* A, size_t astep, int m, float* b, size_t bstep, int n) |
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{ |
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bool output; |
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CALL_HAL_RET(Cholesky32f, cv_hal_Cholesky32f, output, A, astep, m, b, bstep, n) |
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return CholImpl(A, astep, m, b, bstep, n); |
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} |
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bool Cholesky64f(double* A, size_t astep, int m, double* b, size_t bstep, int n) |
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{ |
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bool output; |
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CALL_HAL_RET(Cholesky64f, cv_hal_Cholesky64f, output, A, astep, m, b, bstep, n) |
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return CholImpl(A, astep, m, b, bstep, n); |
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} |
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//============================================================================= |
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// for compatibility with 3.0 |
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int LU(float* A, size_t astep, int m, float* b, size_t bstep, int n) |
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{ |
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return LUImpl(A, astep, m, b, bstep, n, FLT_EPSILON*10); |
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} |
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int LU(double* A, size_t astep, int m, double* b, size_t bstep, int n) |
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{ |
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return LUImpl(A, astep, m, b, bstep, n, DBL_EPSILON*100); |
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} |
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bool Cholesky(float* A, size_t astep, int m, float* b, size_t bstep, int n) |
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{ |
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return CholImpl(A, astep, m, b, bstep, n); |
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} |
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bool Cholesky(double* A, size_t astep, int m, double* b, size_t bstep, int n) |
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{ |
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return CholImpl(A, astep, m, b, bstep, n); |
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} |
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}}
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