Extend support writing linear least squares problems to disk.
1. Make the mechanism for writing problems to disk, generic and
controllable using an enum DumpType visible in the API.
2. Instead of single file containing protocol buffers, now matrices can
be written in a matlab/octave friendly format. This is now the default.
3. The support for writing problems to disk is moved into
linear_least_squares_problem.cc/h
4. SparseMatrix now has a ToTextFile virtual method which is
implemented by each of its subclasses to write a (i,j,s) triplets.
5. Minor changes to simple_bundle_adjuster to enable logging at startup.
diff --git a/internal/ceres/block_sparse_matrix.cc b/internal/ceres/block_sparse_matrix.cc
index c1be940..7dd395e 100644
--- a/internal/ceres/block_sparse_matrix.cc
+++ b/internal/ceres/block_sparse_matrix.cc
@@ -259,5 +259,28 @@
}
#endif
+void BlockSparseMatrix::ToTextFile(FILE* file) const {
+ CHECK_NOTNULL(file);
+ for (int i = 0; i < block_structure_->rows.size(); ++i) {
+ const int row_block_pos = block_structure_->rows[i].block.position;
+ const int row_block_size = block_structure_->rows[i].block.size;
+ const vector<Cell>& cells = block_structure_->rows[i].cells;
+ for (int j = 0; j < cells.size(); ++j) {
+ const int col_block_id = cells[j].block_id;
+ const int col_block_size = block_structure_->cols[col_block_id].size;
+ const int col_block_pos = block_structure_->cols[col_block_id].position;
+ int jac_pos = cells[j].position;
+ for (int r = 0; r < row_block_size; ++r) {
+ for (int c = 0; c < col_block_size; ++c) {
+ fprintf(file, "% 10d % 10d %17f\n",
+ row_block_pos + r,
+ col_block_pos + c,
+ values_[jac_pos++]);
+ }
+ }
+ }
+ }
+}
+
} // namespace internal
} // namespace ceres
