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
|
// 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)
#ifndef CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
#define CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H_
#include "ceres/sparse_matrix.h"
#include "ceres/internal/eigen.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/types.h"
namespace ceres {
namespace internal {
class SparseMatrixProto;
// An implementation of the SparseMatrix interface to store and
// manipulate sparse matrices in triplet (i,j,s) form. This object is
// inspired by the design of the cholmod_triplet struct used in the
// SuiteSparse package and is memory layout compatible with it.
class TripletSparseMatrix : public SparseMatrix {
public:
TripletSparseMatrix();
TripletSparseMatrix(int num_rows, int num_cols, int max_num_nonzeros);
explicit TripletSparseMatrix(const TripletSparseMatrix& orig);
#ifndef CERES_NO_PROTOCOL_BUFFERS
explicit TripletSparseMatrix(const SparseMatrixProto& proto);
#endif
TripletSparseMatrix& operator=(const TripletSparseMatrix& rhs);
~TripletSparseMatrix();
// Implementation of the 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(); }
virtual void set_num_nonzeros(int num_nonzeros);
// Increase max_num_nonzeros and correspondingly increase the size
// of rows_, cols_ and values_. If new_max_num_nonzeros is smaller
// than max_num_nonzeros_, then num_non_zeros should be less than or
// equal to new_max_num_nonzeros, otherwise data loss is possible
// and the method crashes.
void Reserve(int new_max_num_nonzeros);
// Append the matrix B at the bottom of this matrix. B should have
// the same number of columns as num_cols_.
void AppendRows(const TripletSparseMatrix& B);
// Append the matrix B at the right of this matrix. B should have
// the same number of rows as num_rows_;
void AppendCols(const TripletSparseMatrix& B);
// Resize the matrix. Entries which fall outside the new matrix
// bounds are dropped and the num_non_zeros changed accordingly.
void Resize(int new_num_rows, int new_num_cols);
int max_num_nonzeros() const { return max_num_nonzeros_; }
const int* rows() const { return rows_.get(); }
const int* cols() const { return cols_.get(); }
int* mutable_rows() { return rows_.get(); }
int* mutable_cols() { return cols_.get(); }
// Returns true if the entries of the matrix obey the row, column,
// and column size bounds and false otherwise.
bool AllTripletsWithinBounds() const;
bool IsValid() const { return AllTripletsWithinBounds(); }
// Build a sparse diagonal matrix of size num_rows x num_rows from
// the array values. Entries of the values array are copied into the
// sparse matrix.
static TripletSparseMatrix* CreateSparseDiagonalMatrix(const double* values,
int num_rows);
private:
void AllocateMemory();
void CopyData(const TripletSparseMatrix& orig);
int num_rows_;
int num_cols_;
int max_num_nonzeros_;
int num_nonzeros_;
// The data is stored as three arrays. For each i, values_[i] is
// stored at the location (rows_[i], cols_[i]). If the there are
// multiple entries with the same (rows_[i], cols_[i]), the values_
// entries corresponding to them are summed up.
scoped_array<int> rows_;
scoped_array<int> cols_;
scoped_array<double> values_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_TRIPLET_SPARSE_MATRIX_H__
|
