diff options
Diffstat (limited to 'internal/ceres/block_sparse_matrix.h')
-rw-r--r-- | internal/ceres/block_sparse_matrix.h | 144 |
1 files changed, 144 insertions, 0 deletions
diff --git a/internal/ceres/block_sparse_matrix.h b/internal/ceres/block_sparse_matrix.h new file mode 100644 index 0000000..513d398 --- /dev/null +++ b/internal/ceres/block_sparse_matrix.h @@ -0,0 +1,144 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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) +// +// Implementation of the SparseMatrix interface for block sparse +// matrices. + +#ifndef CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ +#define CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ + +#include "ceres/block_structure.h" +#include "ceres/sparse_matrix.h" +#include "ceres/internal/eigen.h" +#include "ceres/internal/macros.h" +#include "ceres/internal/scoped_ptr.h" + +namespace ceres { +namespace internal { + +class SparseMatrixProto; +class TripletSparseMatrix; + +// A further extension of the SparseMatrix interface to support block-oriented +// matrices. The key addition is the RowBlockValues() accessor, which enables +// the lazy block sparse matrix implementation. +class BlockSparseMatrixBase : public SparseMatrix { + public: + BlockSparseMatrixBase() {} + virtual ~BlockSparseMatrixBase() {} + + // Convert this matrix into a triplet sparse matrix. + virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const = 0; + + // Returns a pointer to the block structure. Does not transfer + // ownership. + virtual const CompressedRowBlockStructure* block_structure() const = 0; + + // Returns a pointer to a row of the matrix. The returned array is only valid + // until the next call to RowBlockValues. The caller does not own the result. + // + // The returned array is laid out such that cells on the specified row are + // contiguous in the returned array, though neighbouring cells in row order + // may not be contiguous in the row values. The cell values for cell + // (row_block, cell_block) are found at offset + // + // block_structure()->rows[row_block].cells[cell_block].position + // + virtual const double* RowBlockValues(int row_block_index) const = 0; + + private: + CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrixBase); +}; + +// This class implements the SparseMatrix interface for storing and +// manipulating block sparse matrices. The block structure is stored +// in the CompressedRowBlockStructure object and one is needed to +// initialize the matrix. For details on how the blocks structure of +// the matrix is stored please see the documentation +// +// internal/ceres/block_structure.h +// +class BlockSparseMatrix : public BlockSparseMatrixBase { + public: + // Construct a block sparse matrix with a fully initialized + // CompressedRowBlockStructure objected. The matrix takes over + // ownership of this object and destroys it upon destruction. + // + // TODO(sameeragarwal): Add a function which will validate legal + // CompressedRowBlockStructure objects. + explicit BlockSparseMatrix(CompressedRowBlockStructure* block_structure); + + // Construct a block sparse matrix from a protocol buffer. +#ifndef CERES_NO_PROTOCOL_BUFFERS + explicit BlockSparseMatrix(const SparseMatrixProto& proto); +#endif + + BlockSparseMatrix(); + virtual ~BlockSparseMatrix(); + + // Implementation of SparseMatrix interface. + virtual void SetZero(); + virtual void RightMultiply(const double* x, double* y) const; + virtual void LeftMultiply(const double* x, double* y) const; + virtual void SquaredColumnNorm(double* x) const; + virtual void ScaleColumns(const double* scale); + virtual void ToDenseMatrix(Matrix* dense_matrix) const; +#ifndef CERES_NO_PROTOCOL_BUFFERS + virtual void ToProto(SparseMatrixProto* proto) const; +#endif + virtual void ToTextFile(FILE* file) const; + + virtual int num_rows() const { return num_rows_; } + virtual int num_cols() const { return num_cols_; } + virtual int num_nonzeros() const { return num_nonzeros_; } + virtual const double* values() const { return values_.get(); } + virtual double* mutable_values() { return values_.get(); } + + // Implementation of BlockSparseMatrixBase interface. + virtual void ToTripletSparseMatrix(TripletSparseMatrix* matrix) const; + virtual const CompressedRowBlockStructure* block_structure() const; + virtual const double* RowBlockValues(int row_block_index) const { + return values_.get(); + } + + private: + int num_rows_; + int num_cols_; + int max_num_nonzeros_; + int num_nonzeros_; + scoped_array<double> values_; + scoped_ptr<CompressedRowBlockStructure> block_structure_; + CERES_DISALLOW_COPY_AND_ASSIGN(BlockSparseMatrix); +}; + +} // namespace internal +} // namespace ceres + +#endif // CERES_INTERNAL_BLOCK_SPARSE_MATRIX_H_ |